Technology and life: starting with solar cars

Chapter 106

Liu Yun does not intend to use the old-fashioned connection method for the 1.0 version of the mech he designed. The old-fashioned connection method uses a rotating shaft to connect the shoulder and the upper arm. At this time, you only need to rotate the middle rotating shaft to complete the left and right movement of the upper arm. , and the up and down movement of the big arm is through the up and down movement of another rotating shaft to complete the up and down movement of the big arm. In this way, all the possible movements of the big arm can be obtained by combining the up and down and left and right movements. The left and right and up and down situations are combined to get left and up motion, left and down motion, right and up motion, right and down motion, at this time you can base The left and right positions of the rotating shaft and the up and down positions of the other rotating shaft can be combined in many different positions, so that the arm of the mecha can have countless positions.

But Liu Yun does not intend to use this rotating shaft to control the mechanical arm here. Liu Yun intends to use another wire rope stretching method to control the position movement of the mechanical arm.

In order to achieve the rise and fall of the boom, it is only necessary to logically divide the boom to the left and to the right, and then connect a steel wire rope to the boom at the four positions of the boom. By controlling the four The wire rope completes the control of various possibilities of the boom.When the operator requests to move upwards to the left, the control center issues an instruction at this time to control the upward and leftward steel wire ropes to shrink, and at this time the purpose of moving to the upper left can be achieved.

Don't think that it is very complicated to control a mechanical arm with four wire ropes, because up and down are opposites, and left and right movements are also opposites.If the mechanical arm moves to the left, the steel wire rope on the right side of the mechanical arm will definitely not change; if the mechanical arm moves to the right, the steel wire rope on the left side of the mechanical arm will definitely not change; When the big arm moves up, the steel wire rope on the lower side of the mechanical big arm will definitely not change. If the mechanical big arm moves down, the steel wire rope on the upper side of the mechanical big arm will definitely not change.

This is because the two directions are mutually exclusive, and it is destined that an object cannot have two mutually exclusive actions at the same time, so the completion can place the upward steel wire rope and the downward steel wire rope of the mechanical arm on the same scaling auxiliary The left wire rope and the right wire rope are connected to another scaling aid. In this way, there is no need to use four scaling aids, which can greatly reduce the complexity of the machine and facilitate the design. Convenient and simple.

What is a zoom helper?To put it bluntly, it is a runner that collects the steel wire clockwise and counterclockwise. It can shrink the upward or downward steel wire rope in the clockwise direction, and can shrink the upward or downward steel wire rope in the counterclockwise direction. The specific direction is clockwise or counterclockwise. It is optional to shrink the upward wire rope by the hour hand, because this design will not affect the effect of the machine.

In the design of Mecha 1.0, the zoom assist device is the gear on the motor, that is to say, it is necessary to connect all the wire ropes that go left or right or go up or down to the gear of the motor. The gear of the motor is connected to another gear through a belt, so that the problem can be solved directly in one step.

But what if the motor has only one gear?It is very simple, we only need to glue two motors together vertically, or put two electromagnetic coils in the same motor when manufacturing the motor, but the two coils in the motor are isolated, at this time You only need to put a horizontal connecting rod on one of the coils of the motor, and then put a vertical connecting rod on the other coil group to realize two connecting rods in the horizontal and vertical positions of the motor, and then each connecting rod corresponds to Different wire ropes.

For example, a gear is placed on the horizontal connecting rod. This gear can correspond to the upward wire rope and the downward wire rope, or it can correspond to the left wire rope and the right wire rope. The order does not matter, as long as it corresponds to a Just assemble the wire ropes in the opposite direction.For example, the gear on the horizontal rod corresponds to the wire rope going left and the wire rope going right.

Now the horizontal gear has been used to correspond to the left wire rope and the right wire rope. It is only necessary to connect the left wire rope and the right wire rope to two points on the gear level respectively, that is to say, let the left wire rope The wire rope corresponds to the horizontal left point on the gear, and the right wire rope corresponds to the horizontal right point on the gear. At this time, you only need to give an electric current to the electromagnetic coil, and the gear will rotate clockwise or counterclockwise, and the rotation of the gear will be natural. The wire rope to the left or the wire rope to the right is collected.

If the clockwise direction of the gear is to collect the wire rope going to the left, then the wire rope going to the right is relaxed. Just imagine it for yourself. in a relaxed state.

In fact, the state of the wire rope to the right is useless at this time. Now I feel that the wire rope to the right may affect the state of the mechanical arm, but it is not.Because only one gear is turned now, when the other gear is also turned, two contracting forces will be formed at this time, and any movement of our human body has two directions, as long as it is given two different directions to the big arm. The force in the opposite direction can keep the big arm in a posture or in other words, a position does not change.

At this point, the movement is halfway done, because the arm is only moving in one direction so far.

Then we need to complete the second action. Combining the first action and the second action of the mechanical arm is the various arm activities of human beings.

In fact, the effect of using the wire rope to control the mechanical arm with the rotating shaft is the same. They both control the arm to move to the left or right, and the other rotating shaft controls the mechanical arm to move up or down. Two gears control the wire rope to complete one movement of the mechanical arm at the same time.However, when you want to complete an action with the rotating shaft, you must first move the position left and right and then move the position up and down. This is equivalent to decomposing one action into two actions.

However, if the mechanical arm is pulled by a wire rope, two forces are applied to the mechanical arm at the same time. Movement in other directions.

(End of this chapter)