CN205290970U - Displacement transmission device and intelligent robot - Google Patents
Displacement transmission device and intelligent robot Download PDFInfo
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- CN205290970U CN205290970U CN201520901141.0U CN201520901141U CN205290970U CN 205290970 U CN205290970 U CN 205290970U CN 201520901141 U CN201520901141 U CN 201520901141U CN 205290970 U CN205290970 U CN 205290970U
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 79
- 230000005540 biological transmission Effects 0.000 title claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 230000033001 locomotion Effects 0.000 claims description 39
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 12
- 230000009471 action Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 abstract description 4
- 230000001737 promoting effect Effects 0.000 abstract 1
- 230000008054 signal transmission Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 12
- 239000000463 material Substances 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 239000007769 metal material Substances 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 244000258271 Galium odoratum Species 0.000 description 1
- 235000008526 Galium odoratum Nutrition 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
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- 238000007796 conventional method Methods 0.000 description 1
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Abstract
The utility model discloses a displacement transmission device, include: the lead screw, the spiral wire, the sleeve pipe, the cover pipe box is outside the lead screw, and the spiral wire lies in sleeve pipe and lead screw respectively including the spire of type springy shape and the sharp portion of linearity, and the both ends of spiral wire are connected with sleeve pipe and spiral wire respectively through first parts and second parts, and when sleeve pipe during for lead screw production displacement, the corresponding change of spire length of spiral wire, while spiral wire keeps self transmission signal's effect not influenced. The utility model discloses producing the circumstances about breaking in the time of can avoiding passing the inside wire of action mechanism owing to the to perform an action of mechanism, promoting the utilization ratio in organism space, assurance signal transmission moves with the mechanism and carries out simultaneously. The utility model discloses an application is disclosed simultaneously displacement transmission device's intelligent robot.
Description
Technical field
This utility model relates to a kind of displacement transmission mechanism and intelligent robot.
Background technology
Perform the parts of expanding-contracting action are provided with to the wire of end load transmitting telecommunication number at electromechanical equipment, conventional method is that the wire of transmitting telecommunication number is arranged on the outside of element, the joint being simultaneously positioned at telescopic element arranges sufficiently long one end, is not pulled off so that the element of satisfied execution expanding-contracting action wire when elongation stretches gradually; Owing to the wire being arranged on outside telescopic element is in rolled state when described telescopic element does not extend out most long status, the easily action of interference other elements around, add the complexity of structure so that the space availability ratio of mechanism declines, and adds the overall volume of mechanism.
Utility model content
In order to solve problem of the prior art, this utility model provides a kind of mechanism that the wire with spring structure is arranged on leading screw and the inside pipe casing performing expanding-contracting action.
The technical solution adopted in the utility model is as follows:
Embodiment of the present utility model provides a kind of displacement transmission mechanism, including a leading screw, a piece spiral conducting line, a piece sleeve pipe, described sleeve pipe is at least part of to be enclosed within outside described leading screw, the place that has at least of described sleeve pipe is connected with described leading screw, and described spiral conducting line at least one section is positioned at described leading screw, and described spiral conducting line has at least one section to be positioned within described sleeve pipe.
Preferably, described leading screw is a tubular structure, and the outer surface of described leading screw has started setting up screw thread from one end, and described screw thread region does not cover the outer surface of whole described leading screw; Described leading screw is provided with drive mechanism away from the other end of screw thread, for receiving the torque driving described leading screw to rotate about the axis thereof that rotating driving device passes over.
Preferably, described spiral conducting line is divided at least two parts, linearly one section being located at least in described leading screw is line part, be positioned at that described leading screw is outer and described sleeve pipe coils in the shape of a spiral one section be spire, the spire of described spiral conducting line can freely stretch by relatively described sleeve pipe, and described spiral conducting line is the electric lead of transmission electric current or the cable line of the cable of transmitting telecommunication number or transmission optical signal.Described sleeve pipe is a tubular structure, and described sleeve pipe has at least one section to be enclosed within a gap coaxially outside described leading screw, and described sleeve pipe has helical structure, and described helical structure and described leading screw cooperatively form screw pair. Helical structure on described sleeve pipe includes a screw, described screw and described sleeve pipe are fixed as one by securing member, described screw forms screw pair with described leading screw, and the screw pair that is rotated through of described leading screw is converted into described screw and the displacement vertically of described sleeve pipe. Described sleeve pipe is connected without relative motion with a first component near one end of the spire of described spiral conducting line, and one end of described spiral conducting line is also fixing with described first component to be connected. Described leading screw is connected with rotating driving device near one end of the line part of described spiral conducting line and can be rotated under it drives, and described spiral conducting line is fixed away from one end of spire connect through leading screw and a second component.
There is first state in the spire of described spiral conducting line, when described displacement transmission mechanism is in described first state, the described casing pipe sleeve length axially coincident in leading screw outer is the longest, and the spire of described spiral conducting line is in original state, and described spire length vertically is the shortest.
There is second state in the spire of described spiral conducting line, when described displacement transmission mechanism is in described second state, the described casing pipe sleeve length axially coincident in described leading screw outer is the shortest, the spire of described spiral conducting line is in extended state, and described spire length vertically is the longest.
Described leading screw rotates under the driving of described rotating driving device, it is the displacement vertically of described sleeve pipe by the screw pair between described leading screw and described sleeve pipe by the convert rotational motion of described leading screw, control the change of the described casing pipe sleeve length axially coincident in described leading screw outer by changing the rotary motion direction of described rotating driving device output, and then control the change between described first state and described second state of the described displacement transmission mechanism.
Preferably, the drive mechanism that described leading screw one end is arranged is keyway or key.
Preferably, the helical structure on described sleeve pipe is positioned at one end of sleeve pipe.
Preferably, described screw pair is threaded screw rod pair or ball screw assembly.
Embodiment of the present utility model also provides for a kind of intelligent robot, described intelligent robot includes a displacement transmission mechanism, described displacement transmission mechanism includes a leading screw, a piece spiral conducting line, a piece sleeve pipe, described sleeve pipe is at least part of to be enclosed within outside described leading screw, and the place that has at least of described sleeve pipe is connected with leading screw, described spiral conducting line at least one section is positioned at described leading screw, and described spiral conducting line has at least one section to be positioned within described sleeve pipe. described spiral conducting line be transmitting telecommunication number cable or transmission optical signal cable line. described leading screw is a tubular structure, and the outer surface of described leading screw has started setting up screw thread from one end, and described screw thread region does not cover the outer surface of whole described leading screw, described leading screw is provided with drive mechanism away from the other end of screw thread, for receiving the torque driving described leading screw to rotate about the axis thereof that rotating driving device passes over, described spiral conducting line is divided at least two parts, linearly one section being located at least in described leading screw is line part, be positioned at that described leading screw is outer and described sleeve pipe coils in the shape of a spiral one section be spire, described sleeve pipe is a tubular structure, described sleeve pipe has at least one section to be enclosed within a gap coaxially outside described leading screw, described sleeve pipe has helical structure, described helical structure and described leading screw cooperatively form screw pair, described sleeve pipe is connected without relative motion with a robot head device near one end of the spire of described spiral conducting line, one end of described spiral conducting line is also fixing with described robot head device to be connected. described leading screw is connected with rotating driving device near one end of the line part of described spiral conducting line and can be rotated under it drives, and described spiral conducting line controls the fixing connection of equipment away from one end of spire through leading screw and one.
There is first state in described intelligent robot: when described displacement transmission mechanism is in described first state, the described casing pipe sleeve length axially coincident in leading screw outer is the longest, the spire of described spiral conducting line is in original state, described spire length vertically is the shortest, now, described robot head device is farthest relative to the distance of described control equipment, and " head " of described intelligent robot reaches most long status.
There is second state in described intelligent robot: when described displacement transmission mechanism is in described second state, the described casing pipe sleeve length axially coincident in described leading screw outer is the shortest, the spire of described spiral conducting line is in extended state, described spire length vertically is the longest, now, described robot head device is the shortest relative to the distance of described control equipment, and " head " of described intelligent robot returns to original position.
Described leading screw rotates under the driving of described rotating driving device, it is the displacement vertically of described sleeve pipe by the screw pair between described leading screw and described sleeve pipe by the convert rotational motion of described leading screw, control the change of the described casing pipe sleeve length axially coincident in described leading screw outer by changing the rotary motion direction of described rotating driving device output, and then control the change between described first state and described second state of the described intelligent robot.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of this utility model embodiment, the accompanying drawing used in embodiment will be briefly described below, apparently, accompanying drawing set forth below is only embodiments more of the present utility model, for those of ordinary skill in the art, under the premise not paying creative work, additionally it is possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the overall structure figure of displacement transmission mechanism
Fig. 2 is the structural representation of spiral conducting line
Fig. 3 is the structural representation of leading screw
Fig. 4 is the connection diagram of sleeve pipe and screw
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, embodiment of the present utility model is described in further detail.
In one embodiment, as shown in Figure 1, described displacement transmission mechanism includes, a piece sleeve pipe 1, a piece spiral conducting line 2, one leading screw 3, described sleeve pipe 1 one end is enclosed within outside one end of leading screw 3 with overlapping, the part that described sleeve pipe 1 is enclosed within outside described leading screw 3 simultaneously has at least a place to be connected with described leading screw 3, described spiral conducting line coils at least partially in the shape of a spiral, being similar to the structure of spring, at least one section of described spiral conducting line 2 is positioned at described leading screw 3, and described spiral conducting line 2 has at least one section to be positioned within described sleeve pipe 1. Here spiral conducting line 2 can be fixed as transmission medium two ends, and leading screw 3 and sleeve pipe 1 play fixing and displacement function. As can be seen here, described structure ensure that the transfer function of carrier also ensure that displacement function simultaneously. Two in the process of leading screw 3 displacement, it is possible to the method adopting segment displacement, for instance every the open design of 1 centimetre or air pressure or hydraulic Design. Wherein, when the former open design, it is possible to adopt to rotate and fix, and can also adopt while hydraulic control and not repeat here.
In another embodiment, as shown in Figure 1, described displacement transmission mechanism includes, a piece sleeve pipe 1, a piece spiral conducting line 2, one leading screw 3, described sleeve pipe 1 one end is enclosed within outside one end of leading screw 3 with overlapping, the part that described sleeve pipe 1 is enclosed within outside described leading screw 3 simultaneously has at least a place to be connected with described leading screw 3, described spiral conducting line coils at least partially in the shape of a spiral, being similar to the structure of spring, at least one section of described spiral conducting line 2 is positioned at described leading screw 3, and described spiral conducting line 2 has at least one section to be positioned within described sleeve pipe 1. Here spiral conducting line 2 can be fixed as transmission medium two ends, and leading screw 3 and sleeve pipe 1 play fixing and displacement function.As can be seen here, described structure ensure that the transfer function of carrier also ensure that displacement function simultaneously. two in the process of leading screw 3 displacement, it is possible to the method adopting segment displacement, for instance every the open design of 1 centimetre or air pressure or hydraulic Design. wherein, when the former open design, it is possible to adopt to rotate and fix, and can also adopt while hydraulic control and not repeat here. in the present embodiment, described leading screw 3 is a tubular structure, there is an endoporus, for reserving cabling space, it should be pointed out that the endoporus of described leading screw 3 is not necessarily at the shaft core position of described structure, eccentric design can be adopted according to design needs, such as, be in design and consider, similar the present embodiment that eccentric design can adopt run through design. so can select to adopt different walls as fastening or fixed-direction. as it is shown on figure 3, the outer surface of described leading screw 3 has started setting up screw thread 31 from one end, described screw thread 31 region covers the outer surface of whole described leading screw 3 at least partially, described leading screw 3 is provided with drive mechanism 32 away from the other end of screw thread 31, for receiving the torque driving described leading screw 3 to rotate about the axis thereof that rotating driving device passes over, described device can be moved, certainly, level of torque can the rotating driving device of adaptive different capacity as required, it is ensured that the rotary motion of leading screw 3 meets the rate request of the action of mechanism. the drive mechanism 32 that preferred described leading screw 3 one end is arranged is keyway or key, when described silk, when drive mechanism 32 on 3 is key, described keyway can be singly-bound form, the form of multikeyway combination, matched can be the single keyway arrangements on a driving parts, or the combination keyway arrangements adaptive with multikeyway combining form, additionally, when the drive mechanism 32 on leading screw 3 is keyway or combination keyway, matched driving parts can be single key or the structure of many key combinations, the classification of above-mentioned key or keyway can be flat key, woodruff key, wedge key, tangential keys, spline etc., drive mechanism 32 on described leading screw 3 can also be the combining form of keyway and key.
Preferably, the present embodiment provides a kind of gearshift, leading screw 3 and the sleeve pipe 1 that can make described displacement transmission mechanism carry out relative displacement, connect conductor or wire to be transmitted signal simultaneously also by reserved tubular structure, and the mounting portion of conductor and wire can disclose.
In another embodiment, described displacement transmission mechanism includes a leading screw 3, a piece spiral conducting line 2, a piece sleeve pipe 1, described sleeve pipe 1 is at least part of to be enclosed within outside described leading screw 3, the place that has at least of described sleeve pipe 1 is connected with described leading screw 3, and at least one section of described spiral conducting line 2 is positioned at described leading screw 3, and described spiral conducting line 2 has at least one section to be positioned within described sleeve pipe 1. Here spiral conducting line 2 can be fixed as transmission medium two ends, and leading screw 3 and sleeve pipe 1 play fixing and displacement function. As can be seen here, described structure ensure that the transfer function of carrier also ensure that displacement function simultaneously. As shown in Figure 2, in the present embodiment, described spiral conducting line 2 is divided at least two parts, linearly one section being located at least in described leading screw 3 is line part 22, being positioned at one section that the outer and described sleeve pipe 1 of described leading screw 3 coils in the shape of a spiral is spire 21, and the spire 21 of described spiral conducting line 2 can freely stretch by relatively described sleeve pipe 1.The outer surface of spiral conducting line 2 is generally plastic material, contact with the inwall entering smooth treatment of described sleeve pipe 1 and described leading screw 3, when there is relative motion with leading screw 3 in sleeve pipe 1, the spire 21 of spiral conducting line 2 also can correspondingly produce to stretch, sliding contact between outer surface and the sleeve pipe 1 of spire 21, frictional force owing to producing between the two is little, the flexible of the spire 21 of spiral conducting line 2 can be considered to be releasably fastened to sleeve pipe 1 and move, and the frictional force not produced between sleeve pipe 1 and disturbed motion. The material of described leading screw 3 can adopt metal material or plastic material or other meet the hard material of intensity. In the present embodiment, described spiral conducting line 2 is for transmitting telecommunication number and/or transmission optical signal. The described signal of telecommunication can be maybe drive signal, for conduct driving signal with described displacement transmission mechanism and or broadcast singal, it is preferred that described spiral conducting line 2 can also transmit energy signal, for instance electric energy; It is pointed out that spiral conducting line 2 can as required by both signal integrations together.
In another embodiment, as shown in Figure 1, described displacement transmission mechanism includes, a piece sleeve pipe 1, a piece spiral conducting line 2, one leading screw 3, described sleeve pipe 1 one end is enclosed within outside one end of leading screw 3 with overlapping, the part that described sleeve pipe 1 is enclosed within outside described leading screw 3 simultaneously has at least a place to be connected with described leading screw 3, described spiral conducting line 2 coils at least partially in the shape of a spiral, being similar to the structure of spring, at least one section of described spiral conducting line 2 is positioned at described leading screw 3, and described spiral conducting line 2 has at least one section to be positioned within described sleeve pipe 1. Here spiral conducting line 2 can be fixed as transmission medium two ends, and leading screw 3 and sleeve pipe 1 play fixing and displacement function. As can be seen here, described structure ensure that the transfer function of carrier also ensure that displacement function simultaneously. Two in the process of leading screw 3 displacement, it is possible to the method adopting segment displacement, for instance every the open design of 1 centimetre or air pressure or hydraulic Design. Wherein, when the former open design, it is possible to adopt to rotate and fix, and can also adopt while hydraulic control and not repeat here. In the present embodiment, described sleeve pipe 1 is a tubular structure, there is an endoporus, it is pointed out that the axis of endoporus is not necessarily in the structure center of sleeve pipe 1, it is possible to adopt eccentric design, sleeve pipe 1 has at least one section to be enclosed within outside described leading screw 3 coaxially with a gap, having helical structure on sleeve pipe 1 inwall, described helical structure forms screw pair with the threaded engagement on described leading screw, and screw pair can by straight-line displacement that the convert rotational motion of leading screw 3 is sleeve pipe 1. Space in sleeve pipe 1 is used for cabling, and sleeve pipe 1 inwall carries out smooth treatment, in order to reduce the friction produced between wire and inwall, reduces the probability of wire abrasion. Preferably, in the present embodiment, the helical structure on sleeve pipe 1 inwall is positioned at one end of sleeve pipe 1, it should be pointed out that when sleeve pipe 1 is enclosed within and coordinates with leading screw 3 outside leading screw 3, helical structure can be arranged on any one place on sleeve pipe 1 inwall. The material of sleeve pipe 1 can adopt metal material or plastic material or other meet the hard material of intensity.
Preferably, as shown in Figure 4, helical structure on described sleeve pipe 1 is a screw 4, described screw 4 is fixed as one by securing member with described sleeve pipe 1, and in the present embodiment, securing member is preferably screw, described screw 4 can also be adopted to form screw pair with described leading screw 3, the screw pair that is rotated through of described leading screw 3 is converted into described screw 4 and described sleeve pipe 1 displacement vertically, it is preferable that described screw pair is threaded screw rod pair or ball screw assembly.
In the present embodiment, as shown in Figure 3, Figure 4, described screw 4 is a ring bodies, its inner ring surface is provided with at least one circle screw thread 41, for cooperatively forming threaded screw rod pair with the screw thread 31 of leading screw 3 outer surface, the anchor ring of described screw 4 is provided with tapped through hole 42, the one end passed through screw 4 with sleeve pipe 1 for screw is connected to one, bonding or riveted joint can also be selected, screw 4 and sleeve pipe 1 are fixed together by the mode of welding, and described screw 4 can select metal material or plastic material.
Preferably, above-mentioned sleeve pipe 1 or screw 4 screw pair formed that matches with leading screw 3 is that threaded screw rod is secondary or ball screw assembly, describe situation about coordinating between leading screw 3 and screw 4 for threaded screw rod pair in the present embodiment, do not repeat them here, when kinematic pair between sleeve pipe 1 and leading screw 3 or screw 4 and leading screw 3 is chosen as ball screw assembly, the situation of at least one ball is there is also between sleeve pipe 1 and leading screw 3 or screw 4 and leading screw 3, existence due to ball, frictional force between kinematic pair reduces, the staring torque needed for relative motion between sleeve pipe 1 and leading screw 3 is only small, the creeping phenomenon produced when avoiding sliding contact, can guarantee that and realize accurate Fine Feed motor pattern.
In the present embodiment, described sleeve pipe 1 is connected without relative motion with a first component near one end of the spire 21 of described spiral conducting line 2, one end of described spiral conducting line 2 is also fixing with described first component to be connected, it is worthy of note, here spiral conducting line 2 is connected by a clamping device being arranged on first component and first component are fixing, and spiral conducting line 2 is connected with the electrical equipment in first component near the end of one end of first component. described leading screw 3 is connected with described rotating driving device near one end of the line part of described spiral conducting line 2 and can be rotated under it drives, described spiral conducting line 2 is connected through leading screw 3 and a second component are fixing away from one end of spire 21, it is worthy of note, the control equipment that spiral conducting line 2 is fixedly mounted on second component with one near the end of one end of second component is connected. control equipment in described second component can pass through spiral conducting line 2 and carry out the transmission of energy or signal through the electrical equipment in leading screw 3 and sleeve pipe 1 and first component, certainly, the position of described electrical equipment and control equipment can be exchanged, electrical equipment is owing to being arranged on first component, there is no relative motion between the two, an entirety can be considered, in like manner, described control equipment is also visually as a whole with described second component, then one end of described sleeve pipe 1 and described spiral conducting line 2 all fix with described first component near one end of spire 21, in like manner, one end of described leading screw 3 and described spiral conducting line 2 all fix with described second component near one end of line part 22, when there is relative motion vertically between described leading screw 3 and described sleeve pipe 1, the two ends of described spiral conducting line 2 are equivalent to produce stretching motion by first component and pullling of second component, and stretching motion occurs mainly in the spire 21 of spiral conducting line 2, show as spire 21 length range vertically extend or shorten.
Further, there is first state in the spire 21 of described spiral conducting line 2: when described displacement transmission mechanism is in described first state, described sleeve pipe 1 is enclosed within the axially coincident length in leading screw 3 outer for the longest, the spire 21 of described spiral conducting line 2 is in original state, and described spire 21 length vertically is the shortest.Additionally, there is second state in the spire 21 of described spiral conducting line 2: when described displacement transmission mechanism is in described second state, described sleeve pipe 1 is enclosed within the axially coincident length in described leading screw 3 outer for the shortest, namely sleeve pipe 1 is farthest near one end of spiral conducting line 2 line part 22 distance with leading screw 3 near one end of the spire 21 of spiral conducting line 2, according to above mentioned principle, owing to one end away from leading screw 3 of sleeve pipe 1 is connected near one end of spire 21 with spiral conducting line 2 by first component, leading screw 3 is connected near one end of line part 22 with spiral conducting line 2 by second component away from one end of sleeve pipe 1, the two ends sleeve 1 of spiral conducting line 2 and leading screw 3 away from motion and draw, the spire 21 showing as spiral conducting line 2 is correspondingly elongated to the longest, what show as described spiral conducting line 2 is in extended state.
Further, described leading screw 3 rotates under the driving of described rotating driving device, rotating driving device may be selected to be motor, motor is connected with the drive mechanism 32 on leading screw by belt, the torque of motor output can drive the rotation of leading screw 3, and then be the displacement vertically of described sleeve pipe 1 by the screw pair between described leading screw 3 and described sleeve pipe 1 by the convert rotational motion of described leading screw 3, and control described sleeve pipe 1 be enclosed within the change of the axially coincident length in described leading screw 3 outer by changing the rotary motion direction of described rotating driving device or motor output, owing to one end away from leading screw 3 of sleeve pipe 1 is connected near one end of spire 21 with spiral conducting line 2 by first component, leading screw 3 is connected near one end of line part 22 with spiral conducting line 2 by second component away from one end of sleeve pipe 1, the spire 21 of spiral conducting line 2 also constantly carries out the state change extending and shortening, and then control the change between described first state and described second state of the described displacement transmission mechanism.
Disclose a kind of intelligent robot in another embodiment, described intelligent robot includes a displacement transmission mechanism, body equipment and control equipment, as shown in Figure 1, described displacement transmission mechanism includes, a piece sleeve pipe 1, a piece spiral conducting line 2, one leading screw 3, described sleeve pipe 1 one end is enclosed within outside one end of leading screw 3 with overlapping, the part that described sleeve pipe 1 is enclosed within outside described leading screw 3 simultaneously has at least a place to be connected with described leading screw 3, described spiral conducting line coils at least partially in the shape of a spiral, it is similar to the structure of spring, at least one section of described spiral conducting line 2 is positioned at described leading screw 3, described spiral conducting line 2 has at least one section to be positioned within described sleeve pipe 1. here spiral conducting line 2 can be fixed as transmission medium two ends, and leading screw 3 and sleeve pipe 1 play fixing and displacement function. as can be seen here, described structure ensure that the transfer function of carrier also ensure that displacement function simultaneously. two in the process of leading screw 3 displacement, it is possible to the method adopting segment displacement, for instance every the open design of 1 centimetre or air pressure or hydraulic Design. wherein, when the former open design, it is possible to adopt to rotate and fix, and can also adopt while hydraulic control and not repeat here. in the present embodiment, the described spiral conducting line two ends of described displacement transmission mechanism are connected with described body equipment and described control equipment respectively.
In another embodiment, disclose a kind of intelligent robot, described intelligent robot includes a displacement transmission mechanism, body equipment and control equipment, as shown in Figure 1, described displacement transmission mechanism includes, a piece sleeve pipe 1, a piece spiral conducting line 2, one leading screw 3, described sleeve pipe 1 one end is enclosed within outside one end of leading screw 3 with overlapping, the part that described sleeve pipe 1 is enclosed within outside described leading screw 3 simultaneously has at least a place to be connected with described leading screw 3, described spiral conducting line coils at least partially in the shape of a spiral, it is similar to the structure of spring, at least one section of described spiral conducting line 2 is positioned at described leading screw 3, described spiral conducting line 2 has at least one section to be positioned within described sleeve pipe 1.Here spiral conducting line 2 can be fixed as transmission medium two ends, and leading screw 3 and sleeve pipe 1 play fixing and displacement function. As can be seen here, described structure ensure that the transfer function of carrier also ensure that displacement function simultaneously. Two in the process of leading screw 3 displacement, it is possible to the method adopting segment displacement, for instance every the open design of 1 centimetre or air pressure or hydraulic Design. Wherein, when the former open design, it is possible to adopt to rotate and fix, and can also adopt while hydraulic control and not repeat here. In the present embodiment, the described spiral conducting line two ends of described displacement transmission mechanism are connected with described body equipment and described control equipment respectively. Preferably, sleeve pipe 1 in the displacement transmission mechanism of the intelligent robot in the present embodiment is connected without relative motion with described body equipment near one end of the spire 21 of described spiral conducting line 2, one end of described spiral conducting line 2 is also fixing with described body equipment to be connected, in actual robot architecture, described body equipment is the head device of a robot. In the present embodiment, the effect of spiral conducting line 2 is that the electrical equipment installed in robot head is powered, to perform required headwork. described leading screw is connected with rotating driving device near one end of the line part of described spiral conducting line 2 and can be rotated under it drives, described spiral conducting line 2 away from spire 21 one end through leading screw 3 with one control equipment fix be connected, described power equipment is arranged in a robot bottom device, one end of described leading screw 3 is connected without relative displacement along leading screw axis with described robot bottom device, described robot bottom device has the function supporting whole robot generation along ground moving, the power equipment installed in robot bottom device for by transmitting electric energy or signal through the spiral conducting line 2 of leading screw 3 and sleeve pipe 1 to robot head, the unlike signal feature of power equipment output electric current can be controlled by other control equipment, the waveform of such as size of current or the sense of current or the signal of telecommunication or frequency etc. make corresponding actions to realize the different action form of robot head device controlling the electrical equipment in robot head device, the swing of such as robot head, the operating etc. of other electronic equipments. should be noted that, the position relative to leading screw 3 and sleeve pipe 1 of described control equipment and described electrical equipment can be exchanged, what produce has the technical effect that the bottom that electric energy or signal are transferred to robot from the head of robot, it is transferred in the bottom device of robot realizing energy in robot head device or signal, to realize the motion scheme of robot bottom device, the locomotive function that such as robot is overall. it is also contemplated that, the head device of robot and the bottom device of robot are respectively equipped with power equipment and electrical equipment, to realize the transmitted in both directions of signal or energy, realize the locomotive function of motion scheme or aggregate motion scheme that bottom robot head or robot, two parts produce jointly, the swing of such as robot head or the operating of other electronic equipments of robot head or robot entirety or the combination of above-mentioned three kinds of motor patterns.
Further, there is first state in intelligent robot described in the present embodiment: when the described displacement transmission mechanism in intelligent robot is in described first state, described sleeve pipe 1 is enclosed within the axially coincident length in leading screw 3 outer for the longest, the spire 21 of described spiral conducting line 2 is in original state, described spire 21 length vertically is the shortest, electrical equipment is owing to being arranged on robot head device, there is no relative motion between the two, an entirety can be considered, in like manner, described control equipment is also visually as a whole with described robot bottom device, then one end of described sleeve pipe 1 and described spiral conducting line 2 all fix with described robot head near one end of spire 21, owing to described leading screw 3 is connected without relative motion along leading screw axis with described robot bottom device, spiral conducting line 2 is connected with the power equipment installed in described robot bottom device near one end of line part 22, along leading screw axis direction, can be considered that described leading screw 3 and described spiral conducting line 2 are all fixedly connected with described robot bottom device near one end of line part 22, when there is relative motion vertically between described leading screw 3 and described sleeve pipe 1, the two ends of described spiral conducting line 2 are equivalent to produce stretching motion by robot head device and pullling of robot bottom device, and stretching motion occurs mainly in the spire 21 of spiral conducting line 2, show as spire 21 length range vertically extend or shorten.It is connected owing to robot head device is fixing with one end away from leading screw 3 of sleeve pipe 1, on the axis direction along leading screw 3, reference position with robot bottom device motion, when intelligent robot is in the first state, robot head device distance reference position closest, so this state is also referred to as the head " initial condition " of robot.
Further, there is second state in intelligent robot described in the present embodiment: when the described displacement transmission mechanism in intelligent robot is in described second state, described sleeve pipe 1 is enclosed within the axially coincident length in described leading screw 3 outer for the shortest, the spire 21 of described spiral conducting line 2 is in extended state, and described spire 21 length vertically is the longest. Along the axial direction of leading screw 3, using leading screw 3 position as the reference position of robot bottom device motion, when intelligent robot is in the second state, the distance of robot head device distance reference position is farthest, so this state is also referred to as the head " stretching out state " of robot.
Further, when leading screw 3 in the displacement transmission mechanism of intelligent robot described in the present embodiment rotates under the driving of described rotating driving device, it is the displacement vertically of described sleeve pipe 1 by the screw pair between described leading screw 3 and described sleeve pipe 1 by the convert rotational motion of described leading screw 3, in the present embodiment, rotating driving device is a motor, simultaneously, described sleeve pipe 1 can be controlled it is enclosed within the change of the axially coincident length in described leading screw 3 outer by changing the rotary motion direction of described rotating driving device or motor output, and then control the change between described first state and described second state of the described intelligent robot, it is embodied in, robot head device can correspondingly stretch out from " initial condition " until " state of stretching out " is retracted into " initial condition " with from " stretching out state ", the figurative expression action form of robot " peak with heading " and " drop-head ", simultaneously, it is positioned at the spiral conducting line 2 within sleeve pipe 1 and leading screw 3 and can correspondingly adjust the elongation of its spire and the state of shortening along with " the stretching " of robot head, ensure that the active force that in the process of robot head stretching motion, spiral conducting line 2 not passive movement produces is broken, ensure that the function that spiral conducting line 2 transmits electric energy to head is unaffected.
Of the present utility model theing improvement is that is provided with on spiral conducting line 2 spire 21 coiled in the shape of a spiral, and simultaneously leading screw 3 is set to the tubular structure with endoporus, and sleeve pipe 1 is also tubular structure, and then spiral conducting line 2 just may be provided at sleeve pipe 1 and the inside of leading screw 3. owing to one end of spiral conducting line 2 is linked together by one end of first component Yu sleeve pipe 1, linked together by one end away from screw thread of second component and leading screw 3 with the other end of spiral conducting line 2, screw 4 on sleeve pipe 1 other end forms screw pair with the screw thread on leading screw 3 simultaneously, the leading screw 3 rotary motion under the driving of rotating driving device is converted into the rectilinear motion of sleeve pipe 1 by screw pair, make sleeve pipe 1 and leading screw 3 can produce relative displacement vertically, when sleeve pipe 1 moves axially towards the direction away from leading screw 3, the spire 21 of spiral conducting line 2 is correspondingly elongated, when sleeve pipe 1 moves axially towards the direction close to leading screw 3, the spire 21 of spiral conducting line 2 is correspondingly retracted, the spire 21 of spiral conducting line 2 plays cushioning effect when sleeve pipe 1 realizes displacement action, ensure that spiral conducting line 2 active force that sleeve 1 does not produce in moving in the process of motion is broken, and then ensure that spiral conducting line 2 is unaffected when the function himself keeping transmitting telecommunication number, simultaneously, spiral conducting line 2 is accommodated in leading screw 3 and the inside of sleeve pipe 1, take full advantage of the inner space of mechanism, reduce the overall volume of mechanism, reduce spiral conducting line 2 simultaneously and come in contact, with outside miscellaneous part, the probability that motion produces to wear and tear.
Described above illustrate and describes some preferred embodiments of the present utility model, but as previously mentioned, it is to be understood that this utility model is not limited to form disclosed herein, it is not to be taken as the eliminating to other embodiments, and can be used for other combinations various, amendment and environment, and in utility model contemplated scope described herein, can be modified by the technology of above-mentioned instruction or association area or knowledge. And the change that those skilled in the art carry out and change are without departing from spirit and scope of the present utility model, then all should in the protection domain of this utility model claims.
Claims (11)
1. a displacement transmission mechanism, it is characterized in that, including a leading screw, a piece spiral conducting line, a sleeve pipe, described sleeve pipe is at least part of to be enclosed within outside described leading screw, the place that has at least of described sleeve pipe is connected with described leading screw, described spiral conducting line coils at least partially in the shape of a spiral, and described spiral conducting line at least one section is positioned at described leading screw, and described spiral conducting line has at least one section to be positioned within described sleeve pipe.
2. displacement transmission mechanism according to claim 1, it is characterized in that, described leading screw is a tubular structure, the outer surface of described leading screw has started setting up screw thread from one end, described screw thread region covers at least some of outer surface of whole described leading screw, and described leading screw is provided with drive mechanism away from the other end of described screw thread.
3. displacement transmission mechanism according to claim 2, it is characterised in that the described drive mechanism that described leading screw one end is arranged is keyway or key.
4. displacement transmission mechanism according to claim 1, it is characterized in that, described spiral conducting line is divided at least two parts, linearly one section being located at least in described leading screw is line part, be positioned at that described leading screw is outer and described sleeve pipe coils in the shape of a spiral one section be spire, the described spire of described spiral conducting line can freely stretch by relatively described sleeve pipe.
5. displacement transmission mechanism according to claim 4, it is characterised in that described spiral conducting line is for transmitting telecommunication number and/or transmission optical signal.
6. displacement transmission mechanism according to claim 1, it is characterised in that described sleeve pipe has at least a section to be enclosed within a gap coaxially outside described leading screw, described sleeve pipe has helical structure, and described helical structure and described leading screw cooperatively form screw pair.
7. displacement transmission mechanism according to claim 6, it is characterised in that the described helical structure on described sleeve pipe is arranged on one end of described sleeve pipe.
8. displacement transmission mechanism according to claim 6, it is characterised in that the described helical structure on described sleeve pipe is a screw, described screw and described sleeve pipe are fixed as one by securing member, and described screw forms screw pair with described leading screw.
9. displacement transmission mechanism according to claim 6, it is characterised in that described screw pair is threaded screw rod pair or ball screw assembly.
10. displacement transmission mechanism according to claim 4, it is characterized in that, described sleeve pipe is connected without relative motion with a first component near one end of the described spire of described spiral conducting line, one end of described spiral conducting line is also fixing with described first component to be connected, described leading screw is connected with described rotating driving device near one end of the described line part of described spiral conducting line and can be rotated under described rotating driving device drives, and described spiral conducting line is fixed away from one end of described spire connect through described leading screw and a second component.
11. an intelligent robot, it is characterized in that, including the displacement transmission mechanism described in any one of claim 1-10, body equipment and control equipment, the described spiral conducting line two ends of described displacement transmission mechanism are connected with described body equipment and described control equipment respectively.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520901141.0U CN205290970U (en) | 2015-11-12 | 2015-11-12 | Displacement transmission device and intelligent robot |
| PCT/CN2016/105155 WO2017080448A1 (en) | 2015-11-12 | 2016-11-09 | Movement transmission mechanism and intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520901141.0U CN205290970U (en) | 2015-11-12 | 2015-11-12 | Displacement transmission device and intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205290970U true CN205290970U (en) | 2016-06-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520901141.0U Expired - Fee Related CN205290970U (en) | 2015-11-12 | 2015-11-12 | Displacement transmission device and intelligent robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN205290970U (en) |
| WO (1) | WO2017080448A1 (en) |
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| WO2017080448A1 (en) * | 2015-11-12 | 2017-05-18 | 纳恩博（北京）科技有限公司 | Movement transmission mechanism and intelligent robot |
| CN107088093A (en) * | 2017-04-28 | 2017-08-25 | 深圳市聚焦医疗机器人科技有限公司 | A kind of modular event driven device of Multi-stage flexible curved tube medical robot |
| CN107393156A (en) * | 2017-08-23 | 2017-11-24 | 深圳趣盒信息科技有限公司 | A kind of vending machine |
| CN107527431A (en) * | 2017-08-23 | 2017-12-29 | 深圳趣盒信息科技有限公司 | A kind of vending machine |
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| CN109687339B (en) * | 2018-11-21 | 2024-03-15 | 国网福建省电力有限公司泉州供电公司 | Wire winding device of intelligent repairing device for transmission line wires |
| CN109510105B (en) * | 2018-11-21 | 2024-03-15 | 国网福建省电力有限公司泉州供电公司 | Equipotential intelligent repair method for transmission line conductor |
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| JPH05318377A (en) * | 1992-05-25 | 1993-12-03 | Sony Corp | Rotating table |
| JPH1128691A (en) * | 1997-07-09 | 1999-02-02 | Yaskawa Electric Corp | Linear and rotary operating device |
| KR101073275B1 (en) * | 2006-08-21 | 2011-10-12 | 가부시키가이샤 야스카와덴키 | Double arm robot |
| JP2011051035A (en) * | 2009-08-31 | 2011-03-17 | Seiko Epson Corp | Signal transmission device for robot and robot including the same |
| CN103722546A (en) * | 2013-12-04 | 2014-04-16 | 杜志刚 | Robot for production line |
| CN204295682U (en) * | 2014-11-24 | 2015-04-29 | 东莞市智赢智能装备有限公司 | Integrated cabling four axle robot |
| CN205290970U (en) * | 2015-11-12 | 2016-06-08 | 纳恩博（北京）科技有限公司 | Displacement transmission device and intelligent robot |
-
2015
- 2015-11-12 CN CN201520901141.0U patent/CN205290970U/en not_active Expired - Fee Related
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2016
- 2016-11-09 WO PCT/CN2016/105155 patent/WO2017080448A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017080448A1 (en) * | 2015-11-12 | 2017-05-18 | 纳恩博（北京）科技有限公司 | Movement transmission mechanism and intelligent robot |
| CN107088093A (en) * | 2017-04-28 | 2017-08-25 | 深圳市聚焦医疗机器人科技有限公司 | A kind of modular event driven device of Multi-stage flexible curved tube medical robot |
| CN107088093B (en) * | 2017-04-28 | 2023-09-22 | 深圳前海前沿生命科学应用有限公司 | Modularized driving device of multistage flexible curved tube medical robot |
| CN107393156A (en) * | 2017-08-23 | 2017-11-24 | 深圳趣盒信息科技有限公司 | A kind of vending machine |
| CN107527431A (en) * | 2017-08-23 | 2017-12-29 | 深圳趣盒信息科技有限公司 | A kind of vending machine |
| CN111839592A (en) * | 2020-08-13 | 2020-10-30 | 厦门市领汇医疗科技有限公司 | Prostate detection device |
| CN111839592B (en) * | 2020-08-13 | 2023-12-29 | 厦门市领汇医疗科技有限公司 | Prostate detection device |
| CN112663693A (en) * | 2021-01-12 | 2021-04-16 | 山西省交通科技研发有限公司 | Installation implementation method of self-balancing pile foundation static load test sensing wire |
| CN114391900A (en) * | 2022-02-24 | 2022-04-26 | 上海微创医疗机器人（集团）股份有限公司 | Surgical instrument transmission control mechanism, surgical instrument transmission device and surgical instrument |
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| WO2017080448A1 (en) | 2017-05-18 |
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