CN106737577A - A kind of spiral expanding mechanism - Google Patents
A kind of spiral expanding mechanism Download PDFInfo
- Publication number
- CN106737577A CN106737577A CN201611152966.2A CN201611152966A CN106737577A CN 106737577 A CN106737577 A CN 106737577A CN 201611152966 A CN201611152966 A CN 201611152966A CN 106737577 A CN106737577 A CN 106737577A
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- CN
- China
- Prior art keywords
- screw mandrel
- retractor device
- nut
- protuberance
- prime
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H2702/00—Combinations of two or more transmissions
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Types And Forms Of Lifts (AREA)
Abstract
The present invention provides a kind of spiral expanding mechanism, including drive mechanism, some grades of retractor devices, and the retractor device includes screw mandrel, nut, the nut sleeve is on screw mandrel, the drive mechanism drives the screw mandrel of first order retractor device to rotate, and when screw mandrel is rotated, nut can be moved on screw mandrel；The screw rod bushing of rear class retractor device is outside the screw mandrel of prime retractor device and is connected thereto, and drives rear class retractor device screw mandrel to rotate when prime retractor device screw mandrel is rotated；There is protuberance on the nut of prime retractor device, there is the projection being engaged with protuberance on the screw mandrel of rear class retractor device；When protruding, the nut of prime retractor device promotes the translation of rear class retractor device, and during to contract, the protuberance of prime retractor device pulls rear class retractor device to translate by raised.The present invention can be elongated to the length of demand using multiple coil transmission in the confined space, realize flexible in order.
Description
Technical field
The invention belongs to Robot Design field, it is related to a kind of spiral expanding mechanism.
Background technology
When being patrolled and examined, its fuselage can not be accurate to up to all positions crusing robot, especially for some machines
The robot that body can only stretch in upper next dimension, when it detects target has a certain distance with its detection sensor, needs
Wanting sensor can move forward and backward, to improve homework precision.
Chinese invention patent document CN102235840A《A kind of Ju Ba robots jacking system》Elaborate that one kind uses bullet
The jacking system of reed pipe prepared material, its positioning method is positioned for switch, and catch bar and relay type column interact and complete elevating function,
Or this kind of device is applicable being risen with target during target practice, or the application scenarios packed up, target lighter weight is using mutual
The bourdon tube saw lumber being nested with can meet corresponding demand.This kind of scheme is not suitable for continuously being lifted by central controller controls
Application scenarios, while being difficult to ensure that the stability of elevating mechanism in heavier loads.
Chinese invention patent application CN104942826A《A kind of robot lowering or hoisting gear and elevating method》In disclose one
The robot lifting scheme that grade slide rail is added using drawstring is planted, it is higher to drawstring requirement to lift step by step when the device is lifted, it is non-
Often it is practically applicable to relatively large robot, robot its stability larger for small-sized distance of stretch out and draw back can reduce, additionally, the invention
Patent application uses lifting rope, drawstring both to be used as lifting power transmission, is also the head-rope of each cursor slide, is lifting
Journey, drawstring is easily rocked so that robot lifting is not reliable enough.
The content of the invention
To solve the problems, such as prior art, the present invention provides a kind of spiral expanding mechanism, is driven using multiple coil,
The length of demand can be elongated in the confined space, be realized flexible in order.
The spiral expanding mechanism that the present invention is provided, including drive mechanism, some grades of retractor devices, the retractor device include silk
Bar, nut, on screw mandrel, the drive mechanism drives the screw mandrel of first order retractor device to rotate to the nut sleeve, when screw mandrel turns
When dynamic, nut can be moved on screw mandrel；The screw rod bushing of rear class retractor device connects outside the screw mandrel of prime retractor device and with it
Connect, drive rear class retractor device screw mandrel to rotate when prime retractor device screw mandrel is rotated；Have on the nut of prime retractor device prominent
Go out portion, there is the projection being engaged with protuberance on the screw mandrel of rear class retractor device；When protruding, the nut of prime retractor device
The translation of rear class retractor device is promoted, during to contract, the protuberance of prime retractor device pulls rear class retractor device by raised
Translation.
The present invention, using worm drive principle, carries out multiple coil transmission using nested structure step by step, can be in limited sky
The interior length for being elongated to needs, realizes stretching in order, has larger telescopic extensions, compact conformation, volume in small space
It is small.When stretching out, the nut of prime lowering or hoisting gear promotes rear class retractor device to be translated along the screw mandrel of prime lowering or hoisting gear, during contraction,
It is prominent when prime lowering or hoisting gear nut is moved because the protuberance of prime lowering or hoisting gear is engaged with the projection of rear class lowering or hoisting gear
Portion moves in the lump therewith, is engaged with projection based on protuberance, and protuberance pulls the translation of rear class lowering or hoisting gear, realizes shrinking.It is side
Just protuberance is engaged with raised, and protuberance, raised section are L-shaped.
Projection, draw-in groove company of the rear class retractor device screw mandrel of the invention with prime retractor device screw mandrel by mutual cooperation
Connect, the projection is arranged on the inner surface of rear class retractor device screw mandrel, draw-in groove is arranged on the outer surface of prime retractor device screw mandrel, institute
State in projection insertion draw-in groove.Projection coordinates the connection on the one hand realizing two-stage retractor device screw mandrel with draw-in groove, realizes that power is transmitted,
Another side does not influence the translation of retractor device, by projection and the draw-in groove related screw mandrel of connection, realizes that power is transmitted so that the present invention
A drive mechanism is only needed to be capable of achieving multiple drive power, without providing single actuating unit for every one-level retractor device, greatly
Resource has been saved greatly, device structure has been simplified.
Retractor device of the invention also includes outer shell, and the outer shell is connected with nut, wherein, afterbody retractor device
Outer shell be enclosed within outside this grade of retractor device screw mandrel, the outer shell of prime retractor device is enclosed within outside rear class retractor device, outer shell
Setting, advantageously ensure that the relative stability of retractor devices at different levels, while, it is ensured that rectilinear movement.Outer shell is together with nut
Rotate, translate, correspondingly, protuberance is arranged on has same effect on outer shell.
Preferably, the sliding block present invention additionally comprises guide rail and on guide rail, the outer shell peace of first order retractor device
On sliding block, the entirety that retractor devices at different levels are constituted can be moved by guide rail slide block.
Present invention additionally comprises tail level screw mandrel, tail level screw rod bushing outside the screw mandrel of afterbody retractor device, tail level
Projection is also equipped with screw mandrel, the projection is engaged with the protuberance of afterbody retractor device.Shooting can be installed on tail level screw mandrel
The parts such as machine.Tail level screw mandrel can also be designed to the form with retractor device screw mandrel synchronous axial system, i.e. the interior table of tail level screw mandrel
Face sets raised, and supporting draw-in groove is designed in the outer surface of afterbody retractor device.Tail level screw mandrel can also set outer shell,
The outer shell is close to tail level screw mandrel and is set, and the outer shell of afterbody retractor device is enclosed within outside the outer shell of tail level screw mandrel.
Preferably, the drive device includes motor and gear train, and the motor-driven gear group is rotated, the gear train
First order retractor device screw mandrel is driven to rotate.
The present invention also provides a kind of spiral expanding mechanism, including drive mechanism, also including screw mandrel, nut, foot piece, the spiral shell
On screw mandrel, the foot piece is enclosed within outside the screw mandrel mother set, has protuberance on the nut, has and institute on the foot piece
State the projection of protuberance occlusion；The drive mechanism drives the screw mandrel to rotate, and when screw mandrel is rotated, nut is moved on screw mandrel
Dynamic, when protruding, nut promotes foot piece translation, and during to contract, the protuberance on nut pulls foot piece to translate by raised.
The foot piece is also connected with screw mandrel, and the outer surface of screw mandrel is provided with draw-in groove, and the inner surface setting of foot piece has projection, and the projection is inserted
Enter in draw-in groove.
The present invention realizes stretching orderlyly by the way of multiple coil cylinder is advanced step by step, it is had in small space
There are larger telescopic extensions, realize and the elongation for meeting demand is completed in the confined space, compact conformation of the present invention, light weight,
Linkage telescopic step by step, meet the telescoping mechanism required in specific product application have compact conformation, small volume, can be in limited sky
The requirement of the interior length for being elongated to demand.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is dimensional structure diagram of the present invention.
In figure：1st, gear train, 2, internal layer screw mandrel, 3, internal layer nut, 4, second layer screw mandrel, 5, second layer nut, the 6, the 3rd
Layer screw mandrel, 8, second layer projection, 9, third layer projection, 10, second layer outer shell, 11, internal layer outer shell, 12, sliding block, 13, electricity
Machine, 14, guide rail, 15, third layer outer shell；16th, third layer screw mandrel is raised；17th, second layer screw mandrel is raised；18th, internal layer protuberance；
19th, second layer protuberance.
Specific embodiment
The spiral expanding mechanism that the present invention is provided, including drive mechanism, some grades of retractor devices, the retractor device include silk
Bar, nut, on screw mandrel, the drive mechanism drives the screw mandrel of first order retractor device to rotate to the nut sleeve, when screw mandrel turns
When dynamic, nut can be moved on screw mandrel；The screw rod bushing of rear class retractor device connects outside the screw mandrel of prime retractor device and with it
Connect, drive rear class retractor device screw mandrel to rotate when prime retractor device screw mandrel is rotated；Have on the nut of prime retractor device prominent
Go out portion, there is the projection being engaged with protuberance on the screw mandrel of rear class retractor device；When protruding, the nut of prime retractor device
The translation of rear class retractor device is promoted, during to contract, the protuberance of prime retractor device pulls rear class retractor device by raised
Translation.
As shown in Figure 1, 2, the spiral expanding mechanism for being shown in figure is flexible for three-level, and the spiral expanding mechanism is included by motor
13rd, the drive mechanism of the composition of gear train 1, first order retractor device, second level retractor device and third layer screw mandrel 6, sliding block 12, leads
Rail 14.First order retractor device includes internal layer screw mandrel 2, internal layer nut 3, internal layer outer shell 11, and internal layer nut 3 is enclosed within internal layer screw mandrel
On 2, internal layer outer shell 11 is connected with internal layer nut 3, and internal layer outer shell 11 is enclosed within outside internal layer screw mandrel 2, same with internal layer screw mandrel 2
Axle.Second level retractor device includes second layer screw mandrel 4, second layer nut 5, second layer outer shell 10, and second layer nut 5 is enclosed within the
On two layers of screw mandrel 4, second layer outer shell 10 is enclosed within outside second layer screw mandrel 4, coaxial with second layer screw mandrel 4.It can be seen that
Second layer screw mandrel 4 is enclosed within outside internal layer screw mandrel 2, coaxial with internal layer screw mandrel 2, and internal layer screw mandrel 2 is convex by the second layer with second layer screw mandrel 4
Block 8, the connection of internal layer draw-in groove (not shown), second layer projection 8 are arranged on the inner surface of second layer screw mandrel 4, and internal layer draw-in groove is opened
In the outer surface of internal layer screw mandrel 2, second layer projection 8 is inserted in internal layer draw-in groove；Third layer screw mandrel 6 is enclosed within outside second layer screw mandrel 4, with
Second layer screw mandrel 4 is coaxial, and second layer screw mandrel 4 (is not shown with second layer draw-in groove by third layer projection 9 with third layer screw mandrel 6 in figure
Go out) connect, third layer projection 9 is inserted in second layer draw-in groove.It can be seen that internal layer screw mandrel, second layer screw mandrel, third layer
Screw mandrel is all cylindrical shape, convenient nested.Third layer outer shell 15 is co-axially located at the three layers of outside of screw mandrel 6 in ground, can be with from figure
Find out, internal layer outer shell 11 is enclosed within outside second layer outer shell 10, second layer outer shell 10 is enclosed within outside third layer outer shell 15,
Internal layer outer shell 11 is arranged on sliding block 12, and sliding block 12 can be slided along guide rail 14.First order retractor device is also protruded including internal layer
Portion 18, internal layer protuberance 18 can be arranged on internal layer nut 3, it is also possible to be arranged on internal layer outer shell 11, second layer screw mandrel
Front end is provided with second layer screw mandrel projection 17, and internal layer protuberance 18 is engaged with second layer screw mandrel raised 17, second level retractor device
Also include second layer protuberance 19, the front end of third layer screw mandrel 6 is provided with third layer screw mandrel projection 16, second layer protuberance 19 with
Third layer screw mandrel raised 16 is engaged.It should be noted that because third layer screw mandrel need not again promote other screw mandrels to translate, institute
With, nut is not provided with third layer screw mandrel, therefore, third layer screw mandrel can use the common cylindric body of rod to replace, meanwhile, third layer
Screw mandrel can not also be rotated, i.e. third layer screw mandrel is no longer connected with second layer leading screw by projection, draw-in groove, certainly, from effect
For on fruit, third layer screw mandrel is still connected with second layer screw mandrel and is advisable, and synchronous axial system avoids interference with failure.
Drive mechanism includes motor 13, gear train 1, and the drive gear set 13 of motor 13 is rotated, and gear train 1 drives internal layer screw mandrel
2 rotate.
Start the present invention, it is protruding：By motor-driven gear group 1, drive internal layer screw mandrel 2 to rotate, be enclosed within internal layer silk
Internal layer nut 3 on bar 2 advances, and internal layer nut 3 promotes second layer screw mandrel 4 to advance, and at the same time, second layer screw mandrel 4 is by the
Two layers of projection 8 are rabbeted with internal layer screw mandrel, and so, internal layer screw mandrel 2 drives second layer screw mandrel 4 to rotate；Equally, second layer screw mandrel
4 rotate, the translation forward of second layer nut 5, promote the translation forward of third layer screw mandrel 6, and third layer screw mandrel 6 passes through third layer projection 9
Rabbeted with second layer screw mandrel, so third layer screw mandrel 6 also rotates.During to contract：By motor-driven gear group
1, drive internal layer screw mandrel 2 to rotate backward, the internal layer nut 3 being enclosed within internal layer screw mandrel 2 is retreated, and is arranged on internal layer nut 3 or internal layer
Internal layer protuberance 18 on outer shell 11 catches on the second layer screw mandrel projection 17 on second layer screw mandrel 4, after driving second layer screw mandrel 4
Move back, at the same time, second layer screw mandrel 4 is rotated under the drive of internal layer screw mandrel 2, after second layer nut 5 is on the second layer screw mandrel 4
Move back, the second layer protuberance 19 being arranged on second layer nut 5 or second layer outer shell 10 catches on the 3rd on third layer screw mandrel
Layer screw mandrel projection 16, drives third layer screw mandrel 6 to retreat, and realizes shrinking.So linked step by step the side of propulsion by three-level spiral-tube
Formula, realizes Methodistic flexible, it is had larger telescopic extensions in small space.
Claims (10)
1. a kind of spiral expanding mechanism, including drive mechanism, it is characterised in that：Also include some grades of retractor devices, the flexible dress
Put including screw mandrel, nut, on screw mandrel, the drive mechanism drives the screw mandrel of first order retractor device to rotate to the nut sleeve,
When screw mandrel is rotated, nut can be moved on screw mandrel；The screw rod bushing of rear class retractor device is outside the screw mandrel of prime retractor device
And be connected thereto, drive rear class retractor device screw mandrel to rotate when prime retractor device screw mandrel is rotated；The nut of prime retractor device
It is upper that there is protuberance, there is the projection being engaged with protuberance on the screw mandrel of rear class retractor device；When protruding, the flexible dress of prime
The nut put promotes the translation of rear class retractor device, and during to contract, the protuberance of prime retractor device pulls rear class by raised
Retractor device is translated.
2. spiral expanding mechanism as claimed in claim 1, it is characterised in that：Rear class retractor device screw mandrel and prime retractor device
Projection, draw-in groove connection of the screw mandrel by mutual cooperation, the projection are arranged on the inner surface of rear class retractor device screw mandrel, and draw-in groove is set
In the outer surface of prime retractor device screw mandrel, the projection insertion draw-in groove.
3. spiral expanding mechanism as claimed in claim 1, it is characterised in that：The retractor device also includes outer shell, and this is outer
Sheath body is connected with nut, wherein, the outer shell of afterbody retractor device is enclosed within outside this grade of retractor device screw mandrel, the flexible dress of prime
The outer shell put is enclosed within outside rear class retractor device.
4. spiral expanding mechanism as claimed in claim 3, it is characterised in that：The protuberance is arranged on outer shell.
5. spiral expanding mechanism as claimed in claim 3, it is characterised in that：Also include guide rail and the cunning on guide rail
Block, the outer shell of first order retractor device is arranged on sliding block.
6. the spiral expanding mechanism as described in claim 1-5 any claims, it is characterised in that：The protuberance, projection
Section it is L-shaped.
7. the spiral expanding mechanism as described in claim 1-5 any claims, it is characterised in that：Also include tail level screw mandrel,
Tail level screw rod bushing is also equipped with projection outside the screw mandrel of afterbody retractor device on tail level screw mandrel, projection and most
The protuberance occlusion of rear stage retractor device.
8. the spiral expanding mechanism as described in claim 1-5 any claims, it is characterised in that：The drive device includes
Motor and gear train, the motor-driven gear group are rotated, and the gear train drives first order retractor device screw mandrel to rotate.
9. a kind of spiral expanding mechanism, including drive mechanism, it is characterised in that：Also include screw mandrel, nut, foot piece, the nut
Be enclosed within screw mandrel, the foot piece is enclosed within outside the screw mandrel, on the nut have protuberance, on the foot piece have with it is described
The projection of protuberance occlusion；The drive mechanism drives the screw mandrel to rotate, and when screw mandrel is rotated, nut is moved on screw mandrel,
When protruding, nut promotes foot piece translation, and during to contract, the protuberance on nut pulls foot piece to translate by raised.
10. spiral expanding mechanism as claimed in claim 9, it is characterised in that：The foot piece is also connected with screw mandrel, outside screw mandrel
Surface is provided with draw-in groove, and the inner surface setting of foot piece has projection, in the projection insertion draw-in groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611152966.2A CN106737577A (en) | 2016-12-14 | 2016-12-14 | A kind of spiral expanding mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611152966.2A CN106737577A (en) | 2016-12-14 | 2016-12-14 | A kind of spiral expanding mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737577A true CN106737577A (en) | 2017-05-31 |
Family
ID=58888539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611152966.2A Pending CN106737577A (en) | 2016-12-14 | 2016-12-14 | A kind of spiral expanding mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737577A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923004A (en) * | 2020-08-28 | 2020-11-13 | 吕孙宝 | Opening and closing device |
| CN114654504A (en) * | 2022-04-29 | 2022-06-24 | 烟台艾睿光电科技有限公司 | Large-stroke push rod, pushing and lifting device and robot adopting pushing and lifting device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02124352U (en) * | 1989-03-24 | 1990-10-12 | ||
| CN102619945A (en) * | 2012-04-17 | 2012-08-01 | 中国航天科技集团公司第五研究院第五一八研究所 | Multi-stage hollow screw synchronous drive telescopic manipulator |
| CN102659056A (en) * | 2012-04-27 | 2012-09-12 | 江苏科技大学 | Heavy-load high-accuracy lifting device with multiple sections capable of freely extending and retracting |
| CN206263950U (en) * | 2016-12-14 | 2017-06-20 | 亿嘉和科技股份有限公司 | A kind of spiral expanding mechanism |
-
2016
- 2016-12-14 CN CN201611152966.2A patent/CN106737577A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02124352U (en) * | 1989-03-24 | 1990-10-12 | ||
| CN102619945A (en) * | 2012-04-17 | 2012-08-01 | 中国航天科技集团公司第五研究院第五一八研究所 | Multi-stage hollow screw synchronous drive telescopic manipulator |
| CN102659056A (en) * | 2012-04-27 | 2012-09-12 | 江苏科技大学 | Heavy-load high-accuracy lifting device with multiple sections capable of freely extending and retracting |
| CN206263950U (en) * | 2016-12-14 | 2017-06-20 | 亿嘉和科技股份有限公司 | A kind of spiral expanding mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923004A (en) * | 2020-08-28 | 2020-11-13 | 吕孙宝 | Opening and closing device |
| CN114654504A (en) * | 2022-04-29 | 2022-06-24 | 烟台艾睿光电科技有限公司 | Large-stroke push rod, pushing and lifting device and robot adopting pushing and lifting device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |