CN102699929B - Multi-piece coil spring type linear expansion mechanism - Google Patents
Multi-piece coil spring type linear expansion mechanism Download PDFInfo
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- CN102699929B CN102699929B CN201210186039.8A CN201210186039A CN102699929B CN 102699929 B CN102699929 B CN 102699929B CN 201210186039 A CN201210186039 A CN 201210186039A CN 102699929 B CN102699929 B CN 102699929B
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Abstract
The invention discloses a multi-piece coil spring type linear expansion mechanism, and belongs to an object transferring tool on an aerospace weightless state. The expansion mechanism comprises a base, a telescopic unit, a butting plate and a power transmission unit, and is characterized in that a zipper lock catch is arranged on the telescopic unit, and is fixedly connected with the base; four rows of coil spring reed collection grooves are formed in the longitudinal direction of the zipper lock catch, and are divided into two groups of slotted holes adopting asymptotic structures; four coil spring reeds are arranged corresponding to the four rows of coil spring reed collection grooves, and are an upper straight coil spring reed, a lower straight coil spring reed, a left arc-shaped coil spring reed and a right arc-shaped coil spring reed; the whole cross sections of the upper straight coil spring reed and the lower straight coil spring reed adopt linear structures; lock holes are formed in the cross sections of the upper straight coil spring reed and the lower straight coil spring reed; the whole cross sections of the left arc-shaped coil spring reed and the right arc-shaped coil spring reed adopt arc-shaped structures; latch hooks are arranged on edges on two sides of the cross section of the left arc-shaped coil spring reed as well as on edges on two sides of the cross section of the right arc-shaped coil spring reed; and parts of the four coil spring reeds, which extend out of the zipper lock catch, are occluded through the lock holes and the latch hooks to form an I-shaped structure. The expansion mechanism has the advantages that flexible expansion and contraction are realized; the mass and the size are reduced; the stroke is increased; and the suitability for the space weightless environment is obtained.
Description
Technical field
The present invention relates to object transfer tool under a kind of space flight state of weightlessness, particularly a kind of rigidifying chain type linear expansion mechanism, realizes flexibility and stretches exhibition transferring objects.
Background technology
Space flight and aviation is that the mankind explore natural forward position engineering, walk space-ward and become the requisite mark of science and technology power, in space system engineering, each link is extremely important, safe and reliable transferring objects how under the environment of weightlessness is exactly one of them problem, under weightlessness, make action mobile object by people is a very very difficult thing, generally all to be come by mechanical arm, but this mechanical arm adopts traditional structure, action is stiff, quality is large, take spacecraft space larger, space and quality are vital for a spacecraft, also be the strict key project controlled, parts alleviate quality or save space, just meaning can increase an instrument or many experimental projects can go up to the sky, so still need to undergo technological transformation to this traditional structure mechanical arm, make its volume weight less, performance is better, be suitable for aerospace environment.
Summary of the invention
In order to solve large, the bulky deficiency of above-mentioned mechanical arm quality, the present invention propose a kind of weightless in space flight when transferring objects flexible docking transfer device, under the condition being subject to bulk, quality, space environment restriction, realize in too aerial object transfer.
The technical solution used in the present invention is: this multi-disc spring type linear expansion mechanism, comprise base, telescopic unit, butt plate, power transmission unit, it is characterized in that, telescopic unit is provided with a zipper buckle, zipper buckle is fixedly connected with base, zipper buckle is longitudinally provided with four road wind spring sheets and converges groove, and be respectively groove, lower groove, left groove, right groove, upper groove and lower groove, left groove and right groove are respectively two groups of asymptotic structure slotted eyes; Corresponding four road wind spring sheets converge groove and are provided with four silver lap reeds, be respectively straight wind spring sheet, lower straight wind spring sheet, left arc wind spring sheet, right arc wind spring sheet, upper straight wind spring sheet and lower straight wind spring sheet cross section entirety are in yi word pattern, have lockhole, left arc wind spring sheet and right arc wind spring sheet cross section entirety curved, both sides of the edge are provided with latch hook; Four silver lap reed one end are converged groove through stretching out from zipper buckle four road wind spring sheet respectively, be fixed on butt plate, the other end connects respectively and is wound on four each self-corresponding wind spring cylinders, and four wind spring cylinders are respectively wind spring cylinder, lower wind spring cylinder, left wind spring cylinder, right wind spring cylinder; Power transmission unit drives upper straight wind spring sheet and lower straight wind spring sheet synchronous extension or contraction, and four silver lap reeds are bited into I shape from zipper buckle extension by lockhole and latch hook.
Power transmission unit is provided with motor, motor is connected with and drives bevel gear, corresponding driving bevel gear is provided with the driven wheel of differential engaged with it, coaxially be provided with synchromesh gear one with driven wheel of differential and feed gear one, corresponding synchromesh gear one is provided with the synchromesh gear two engaged with it, coaxially be provided with synchromesh gear two and feed gear two, feed gear one, feed gear two and be engaged with the lockhole on upper straight wind spring sheet, lower straight wind spring sheet respectively, the feeding and shrink of straight wind spring sheet in control, lower straight wind spring sheet.
To drive radiation profiles centered by bevel gear shaft to have 3 groups of telescopic units to connect base and butt plate, corresponding 3 groups of telescopic units are provided with 3 groups of gear units, and 3 groups of gear units share a motor, drive bevel gear as power source, run-in synchronism.
Axle, four wind spring cylinders, the motors of synchromesh gear one and synchromesh gear two are fixed on base by support.
5, according to the arbitrary described multi-disc spring type linear expansion mechanism of the 1 to 4 group described in technical scheme, it is characterized in that being provided with wind spring in four wind spring cylinders, make four silver lap reeds between four wind spring cylinders and zipper buckle be in tensioning state.
The present invention changes the hard rod type structure of conventional robot arm, by zipper buckle, four rollable wind spring sheet lockings are formed the telescopic arm of rigidity I shape, during contraction, wind spring sheet unlocks through zipper buckle and is wound on wind spring cylinder, when stretching out, wind spring sheet forms the I shape arm with rock-steady structure through zipper buckle locking, realize flexible concertina, quality and volume reduce to some extent, stroke increases to some extent, design scientific structure is stable is easy to operation, be suitable for using under the environment of weightlessness of space, for technical contribution is made in the synergy of spacecraft loss of weight, there is comparatively high practicability.
accompanying drawing illustrates:
Fig. 1 is multi-disc spring type linear expansion mechanism overall structure schematic diagram;
Fig. 2 is multi-disc spring type linear expansion mechanism power transmission unit structural representation;
Fig. 3 is multi-disc spring type linear expansion mechanism telescopic unit structural representation;
Fig. 4 is multi-disc spring type linear expansion mechanism zipper buckle structural representation;
Fig. 5 is snap close fastening lockhole I shape wind spring sheet cross-sectional structure schematic diagram;
Fig. 6 is the profile along A-A line in Fig. 4.
Title is indicated: 1 base in figure; 2 butt plates; 3 zipper buckles; Groove on 4; 5 times grooves; 6 left grooves; 7 right grooves; Straight wind spring sheet on 8; 9 times straight wind spring sheets; 10 left arc wind spring sheets; 11 right arc wind spring sheets; 12 lockholes; 13 latch hooks; Wind spring cylinder on 14; 15 times wind spring cylinders; 16 left wind spring cylinders; 17 right wind spring cylinders; 18 motors; 19 drive bevel gear; 20 driven wheels of differential; 21 synchromesh gears one; 22 feed gear one; 23 synchromesh gears two; 24 feed gear two.
detailed description of the invention:
As shown in Figures 1 to 6, this multi-disc spring type linear expansion mechanism, is provided with base 1, telescopic unit, butt plate 2, power transmission unit to the embodiment of the present invention, telescopic unit is provided with a zipper buckle 3, zipper buckle 3 is fixedly connected with base 1, zipper buckle 3 is longitudinally provided with four road wind spring sheets and converges groove, is respectively groove 4, lower groove 5, left groove 6, right groove 7, and upper groove 4 is respectively two groups of asymptotic structure slotted eyes with lower groove 5, left groove 6 with right groove 7, corresponding four road wind spring sheets converge groove and are provided with four silver lap reeds, be respectively straight wind spring sheet 8, lower straight wind spring sheet 9, left arc wind spring sheet 10, right arc wind spring sheet 11, upper straight wind spring sheet 8 and lower straight wind spring sheet 9 cross section entirety are in yi word pattern, have lockhole 12, left arc wind spring sheet 10 and right arc wind spring sheet 11 cross section entirety curved, both sides of the edge are provided with latch hook 13, four silver lap reed one end are converged groove through stretching out from zipper buckle 3 four road wind spring sheet respectively, be fixed on butt plate 2, the other end connects respectively and is wound on four each self-corresponding wind spring cylinders, four wind spring cylinders are respectively wind spring cylinder 14, lower wind spring cylinder 15, left wind spring cylinder 16, right wind spring cylinder 17, are fixed on base 1 by support, power transmission unit is provided with motor 18, motor 18 is fixed on base 1, motor 18 is connected with and drives bevel gear 19, corresponding driving bevel gear 19 is provided with the driven wheel of differential 20 engaged with it, coaxially be provided with synchromesh gear 1 with driven wheel of differential 20 and feed gear 1, corresponding synchromesh gear 1 is provided with the synchromesh gear 2 23 engaged with it, coaxially be provided with synchromesh gear 2 23 and feed gear 2 24, feed gear 1, feed gear 2 24 and be engaged with the lockhole 12 on upper straight wind spring sheet 8, lower straight wind spring sheet 9 respectively, time static, four silver lap reeds twist in each self-corresponding wind spring cylinder respectively from zipper buckle 3 withdrawal part, and extension is bited into I-shaped structure by lockhole 12 and latch hook 13, are connected as a single entity by four silver lap reeds, during stretching, extension, motor 18 is driven by gear unit and feeds gear 1, feed gear 2 24 synchronous axial system, feed gear 1, feed gear 2 24 to be engaged with lockhole 12 and to drive straight wind spring sheet 8, lower straight wind spring sheet 9 synchronously enters the upper groove 4 of zipper buckle 3, lower groove 5, owing to being connected as a single entity by lockhole 12 and latch hook 13 occlusion through four silver lap reed extensions, so at upper straight wind spring sheet 8, the four road wind spring sheets that lower straight wind spring sheet 9 drives lower four silver lap reeds to enter zipper buckle 3 simultaneously converge groove, due to upper groove 4 and lower groove 5, left groove 6 is respectively two groups of asymptotic structure slotted eyes with right groove 7, inwardly to converge gradually with right arc wind spring sheet 11 at the guiding bottom left arc wind spring sheet 10 of left groove 6 and right groove 7 and be close to pressing, on simultaneously under upper groove 4 with the guiding of lower groove 5, straight wind spring sheet 8 and lower straight wind spring sheet 9 inwardly converge gradually and are close to bottom left arc wind spring sheet 10 and right arc wind spring sheet 11 side, left arc wind spring sheet 10 and right arc wind spring sheet 11 both sides latch hook 13 enter the lockhole 12 of straight wind spring sheet 8 and lower straight wind spring sheet 9, after being stretched out by zipper buckle 3, left arc wind spring sheet 10 recovers bowed state with right arc wind spring sheet 11, snap close fastening lockhole 12 under arc elastic force effect back-to-back, four silver lap reeds form I shape rock-steady structure, drive butt plate 2 extending forwards simultaneously, just contrary during contraction, motor 18 is reversed to be driven by gear unit and feeds gear 1, feeds gear 2 24, four silver lap reeds are driven to regain, pressing is close to right arc wind spring sheet 11 at left groove 6 and the guiding bottom left arc wind spring sheet 10 of right groove 7, on simultaneously under the guiding of upper groove 4 with lower groove 5, straight wind spring sheet 8 is separated to both sides with lower straight wind spring sheet 9, snap close departs from lockhole 12, four silver lap reed and is rolled onto on four wind spring cylinders respectively, the present embodiment realizes flexible concertina, and quality and volume reduce to some extent, and stroke increases to some extent, and design scientific structure is stable is easy to operation, is suitable for using under the environment of weightlessness of space, for technical contribution is made in the synergy of spacecraft loss of weight, has comparatively high practicability.
During the invention process, in order to increase stability, base 1 and butt plate 2 can be connected to drive radiation profiles 3 groups of telescopic units centered by bevel gear 19 axle, corresponding 3 groups of telescopic units are provided with 3 groups of gear units, 3 groups of gear units share a motor 18, drive bevel gear 19 as power source, run-in synchronism.
Claims (5)
1. a multi-disc spring type linear expansion mechanism, comprise base (1), telescopic unit, butt plate (2), power transmission unit, it is characterized in that: telescopic unit is provided with a zipper buckle (3), zipper buckle (3) is fixedly connected with base (1), zipper buckle (3) is longitudinally provided with four road wind spring sheets and converges groove, be respectively groove (4), lower groove (5), left groove (6), right groove (7), upper groove (4) is respectively two groups of asymptotic structure slotted eyes with lower groove (5), left groove (6) with right groove (7); Corresponding four road wind spring sheets converge groove and are provided with four silver lap reeds, be respectively straight wind spring sheet (8), lower straight wind spring sheet (9), left arc wind spring sheet (10), right arc wind spring sheet (11), upper straight wind spring sheet (8) and lower straight wind spring sheet (9) cross section entirety are in yi word pattern, have lockhole (12), left arc wind spring sheet (10) and right arc wind spring sheet (11) cross section entirety curved, both sides of the edge are provided with latch hook (13); Four silver lap reed one end are converged groove through stretching out from zipper buckle (3) four road wind spring sheet respectively, be fixed on butt plate (2), the other end connects respectively and is wound on four each self-corresponding wind spring cylinders, and four wind spring cylinders are respectively wind spring cylinder (14), lower wind spring cylinder (15), left wind spring cylinder (16), right wind spring cylinder (17); Power transmission unit drives upper straight wind spring sheet (8) and lower straight wind spring sheet (9) synchronous extension or contraction, and four silver lap reeds pass through lockhole (12) from zipper buckle (3) extension and latch hook (13) is bited into I shape.
2. multi-disc spring type linear expansion mechanism according to claim 1, it is characterized in that: power transmission unit is provided with motor (18), motor (18) is connected with and drives bevel gear (19), corresponding driving bevel gear (19) is provided with the driven wheel of differential (20) engaged with it, coaxially be provided with synchromesh gear one (21) with driven wheel of differential (20) and feed gear one (22), corresponding synchromesh gear one (21) is provided with the synchromesh gear two (23) engaged with it, coaxially be provided with synchromesh gear two (23) and feed gear two (24), feed gear one (22), feed gear two (24) respectively with upper straight wind spring sheet (8), lockhole (12) occlusion on lower straight wind spring sheet (9).
3. multi-disc spring type linear expansion mechanism according to claim 2, it is characterized in that: have 3 groups of telescopic units to connect base (1) and butt plate (2) to drive radiation profiles centered by bevel gear (19) axle, corresponding 3 groups of telescopic units are provided with 3 groups of gear units, 3 groups of gear units share a motor (18), drive bevel gear (19) as power source, run-in synchronism.
4. multi-disc spring type linear expansion mechanism according to claim 1 and 2, is characterized in that: axle, four wind spring cylinders, the motors (18) of synchromesh gear one (21) and synchromesh gear two (23) are fixed on base (1) by support.
5. multi-disc spring type linear expansion mechanism according to claim 1, is characterized in that: be respectively equipped with wind spring in four wind spring cylinders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210186039.8A CN102699929B (en) | 2012-06-07 | 2012-06-07 | Multi-piece coil spring type linear expansion mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210186039.8A CN102699929B (en) | 2012-06-07 | 2012-06-07 | Multi-piece coil spring type linear expansion mechanism |
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| CN102699929A CN102699929A (en) | 2012-10-03 |
| CN102699929B true CN102699929B (en) | 2015-02-18 |
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| CN201210186039.8A Active CN102699929B (en) | 2012-06-07 | 2012-06-07 | Multi-piece coil spring type linear expansion mechanism |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002306B (en) * | 2014-05-13 | 2016-03-30 | 中国科学院深圳先进技术研究院 | Telescopic magic hand |
| CN104276291B (en) * | 2014-10-23 | 2016-03-23 | 东南大学 | A kind of minor planet surface operation auxiliary mechanism of rigid flexible system |
| CN105945985B (en) * | 2016-05-28 | 2018-01-19 | 台州风达机器人科技有限公司 | A kind of robot for performing end and being provided with spill spin block |
| DE102018213499B4 (en) * | 2018-08-10 | 2021-07-08 | Kuka Deutschland Gmbh | Robot arm with housing shells connected via at least one linear connecting element |
| CN111823269A (en) * | 2020-06-23 | 2020-10-27 | 北京航空航天大学 | Measuring tape zipper type telescopic mechanical arm and design method thereof |
| CN113580195B (en) * | 2021-08-11 | 2023-10-27 | 上海大学 | Coiled thin-wall multi-closed-loop foldable mechanical arm |
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| US4829844A (en) * | 1987-11-25 | 1989-05-16 | General Electric Company | Power assist handle |
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