CN105922245A - Torsional transmission based worm type telescopic forward moving device - Google Patents
Torsional transmission based worm type telescopic forward moving device Download PDFInfo
- Publication number
- CN105922245A CN105922245A CN201610466703.2A CN201610466703A CN105922245A CN 105922245 A CN105922245 A CN 105922245A CN 201610466703 A CN201610466703 A CN 201610466703A CN 105922245 A CN105922245 A CN 105922245A
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- China
- Prior art keywords
- drive mechanism
- torque drive
- self extending
- extending formula
- self
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a torsional transmission based worm type telescopic forward moving device. The device comprises a first self-telescoping type torsional transmission mechanism and a second self-telescoping type torsional transmission mechanism; the outer sides of motors of the two self-telescoping type torsional transmission mechanisms are sleeved with motor housings; the motors are connected with speed reducers, and the speed reducers are in match with safety clutches; a spring is mounted in an axis position between each driving component and each driven component; ropes are mounted at the side edges of the driving components, and the tail ends of the ropes are fixed to the side edges of the driven components; the first self-telescoping type torsional transmission mechanism is coaxial with the second self-telescoping type torsional transmission mechanism; the driven components are oppositely fixed and reversely connected; the first self-telescoping type torsional transmission mechanism is provided with a first one-way foot; the second self-telescoping type torsional transmission mechanism is provided with a second one-way foot; the lower ends of the driven components are equipped with a third one-way foot. The device further comprises a front supporting rod. According to the device, the torsional transmission principle is utilized to achieve the worm type telescopic forward moving, and thus the device can directly forwards move in a straight line in a small passing space.
Description
Technical field
The present invention relates to mechanical field, relate to a kind of linear moving apparatus, particularly relate to a kind of based on torsion
Turn the worm type of transmission to stretch moving device.
Background technology
Straight-line motion mechanism is to make certain point on component make accurately or the mechanism of approximate straight line motion.The 17th century
In late period, before the mankind can produce accurate slide bar and guide groove, occur in that a kind of Machine Design thought, purpose
It is that the combination of connecting rod and hinge completes the function of rectilinear guide groove and slide bar with manufacturing easy tablet,
Certain point on component is made to make accurately or approximate straight line motion.Due to present machining high-precision slide bar and guide groove
Without difficulty, this mechanism is the rarest, only in instrument and some mechanically also application.But this set
Meter thought has important evocation for modern bionics Machine Design.Straight-line motion mechanism divides
For approximate straight line motion and two classes of accurate linear motion, they have respective feature, are used in
Different occasions.
The size of robot to determine according to the size of its energy with executive item, and some robots can not set
That counts is the least, and in some special cases, robot to pass through a tubular space, common skill
Art is by Robot Design into strips so that it is cut that cross section is little and volume enough, the mobile side of this robot
Formula typically Bionic Design becomes Serpentis formula to move or Inchworm type moves, and prior art is simulated both exactly and moved
Thing moves.
Serpentis formula move mode is that the right side that keeps left bends the body a part, makes health another part produce side force
Carrying out, therefore Serpentis can only wiggly advance, and can not directly walk true line.Inchworm type moves same
Sample bends the body up and down.Both motion modes are required for bigger lateral space, are unfavorable for passing through
Tubular space.
Summary of the invention
It is an object of the invention to use autologous flexible mode, exploitation one can not required bigger
By the flexible dress of advancing of worm type based on torque drive directly linearly advanced in the case of space
Put.
For achieving the above object, the technical scheme is that a kind of based on torque drive compacted
Worm formula is stretched moving device, reverses including the first self extending formula torque drive mechanism, the second self extending formula
Drive mechanism, two self extending formula torque drive mechanism structure are identical, self extending formula torque drive mechanism bag
Including motor, be cased with electric machine casing outside motor, motor is connected with decelerator, decelerator and safety clutch
Device coordinates, and overload-release clutch is coaxially flexibly connected with driving link；
Driven member and driving link coaxial spaced are arranged, the shaft core position between driving link and driven member equipped with
Spring；
The edge of described driving link is fixed on institute equipped with some ropes for transmitting moment of torsion, rope end
Stating the edge of driven member, rope constitutes cage type with driving link, driven member；
Being provided with interior telescopic joint between described rope and spring, interior telescopic joint includes multistage spline housing, interior
Outside telescopic joint, medium position successively decreases step by step to two ends without leave, interior telescopic joint two ends respectively with driving link, from
Moving part connects, and wherein interior telescopic joint is fixing with driven member is connected, and is rotatably connected with driving link；
Interior telescopic joint outer jacket surface in the middle part of described interior telescopic joint is provided with keeper, and described rope is made by oneself
Passing in the part of position, the both sides along interior telescopic joint axis direction of keeper are respectively provided with limited block；
The outside of described rope is provided with overhanging casing coupling, and overhanging casing coupling includes multistage spline housing, overhanging casing coupling
External diameter successively decreases to driven member direction step by step from driving link, and the two ends of overhanging casing coupling are socketed in motor casing respectively
Body and driven member upper, the most overhanging casing coupling and described electric machine casing are fixedly sleeved, with driven member are
Rotatable socket；
Described first self extending formula torque drive mechanism and described second self extending formula torque drive mechanism with
Axle, driven member is relatively fixed Opposite direction connection；
The front lower ends of described first self extending formula torque drive mechanism equipped with the first unidirectional foot, second from
Lower end, telescopic torque drive mechanism rear portion is equipped with the second unidirectional foot, and driven member lower end is unidirectional equipped with the 3rd
Foot, first unidirectional sufficient, the second unidirectional sufficient, the 3rd unidirectional foot is ratchet shape, first unidirectional sufficient, second
Unidirectional sufficient, the 3rd unidirectional sufficient movable direction along the second self extending formula torque drive mechanism to first from stretching
Suo Shi torque drive mechanism；
Described first self extending formula torque drive mechanism is arranged over an annulus, and the second self extending formula is reversed
Drive mechanism is arranged above a front strut, and front strut is horizontal-extending, and end passes in annulus, front
Being provided with keeper in the middle part of strut, the position that keeper is arranged is, the first self extending formula torque drive mechanism
Elongation state, and the second self extending formula torque drive mechanism contraction state, described first self extending formula is turned round
Turn the top of the driving link position of drive mechanism；
The energising of first self extending formula torque drive mechanism starts, and the first self extending formula torque drive mechanism receives
Contracting, because of the first unidirectional sufficient grip effect, driven member moves forward, rear second self extending formula torque drive
Mechanism starts, the power-off of the first self extending formula torque drive mechanism, the second self extending formula torque drive mechanism
Shrink, because of the second unidirectional sufficient grip effect, driven member pull the second self extending formula torque drive mechanism to
Front movement, meanwhile, front strut protracts, and keeper props up annulus, the first self extending formula torque drive machine
Structure stress moves forward, it is achieved whole device moves forward.
The invention has the beneficial effects as follows:
The present invention utilizes torque drive principle to realize the flexible traveling of this worm type, can not require
Bigger by directly linearly advancing in the case of space.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
The moving device as it is shown in figure 1, a kind of worm type based on torque drive disclosed by the invention stretches,
Including the first self extending formula torque drive mechanism, the second self extending formula torque drive mechanism, two self extendings
Formula torque drive mechanism structure is identical, including motor 1, is cased with electric machine casing 101 outside motor 1,
Motor 1 is connected with decelerator 2, and decelerator 2 coordinates with overload-release clutch 3, overload-release clutch 3 with
Driving link 4 is coaxially flexibly connected；
Driven member 6 is arranged with driving link 4 coaxial spaced, the axle center between driving link 4 and driven member 6
Position is equipped with spring 8；
The edge of described driving link 4 is equipped with some ropes 7 for transmitting moment of torsion, and rope 7 end is solid
Being scheduled on the edge of described driven member 6, rope 7 and driving link 4, driven member 6 constitute cage type；
Being provided with interior telescopic joint 9 between described rope 7 and spring 8, interior telescopic joint 9 includes multistage flower
Key set, the interior outer medium position without leave of telescopic joint 9 successively decreases step by step to two ends, and interior telescopic joint 9 two ends are respectively
Being connected with driving link 4, driven member 6, wherein interior telescopic joint 9 is fixing with driven member 6 is connected, with master
Moving part 4 is rotatably connected；
Interior telescopic joint overcoat 901 outer surface in the middle part of described interior telescopic joint 9 is provided with keeper 10, institute
State in the self-align part of rope 7 10 and pass, keeper 10 along the two of interior telescopic joint 9 axis direction
Side is respectively provided with limited block 11；
The outside of described rope 7 is provided with overhanging casing coupling 12, and overhanging casing coupling 12 includes multistage spline housing,
Overhanging casing coupling 12 external diameter successively decreases to driven member 6 direction step by step from driving link 4, overhanging casing coupling 12
Two ends are socketed in the upper of electric machine casing 101 and driven member 6, the most overhanging casing coupling 12 and motor respectively
Housing 101 is fixedly sleeved, is rotatable socket with driven member 6.
Described first self extending formula torque drive mechanism 13 and described second self extending formula torque drive machine
Structure 5 is coaxial, and driven member 6 is relatively fixed Opposite direction connection.
The front lower ends of described first self extending formula torque drive mechanism 13 equipped with the first unidirectional foot 1301,
Second lower end, self extending formula torque drive mechanism 5 rear portion is equipped with the second unidirectional foot 501, driven member 6 times
End is equipped with the 3rd unidirectional foot 601, and first unidirectional foot the 1301, second unidirectional foot the 501, the 3rd is unidirectional
Foot 601 is ratchet shape, movable direction along the second self extending formula torque drive mechanism 5 to the first self extending
Formula torque drive mechanism 13.
Described first self extending formula torque drive mechanism 13 is arranged over an annulus 1401, and second from stretching
Suo Shi torque drive mechanism 5 is arranged above a front strut 14, and front strut 14 is horizontal-extending, end
Passing in annulus 1401, be provided with keeper 1402 in the middle part of front strut 14, keeper 1402 sets
The position put exists, the first self extending formula torque drive mechanism 13 elongation state, and the second self extending formula
Torque drive mechanism 5 contraction state, the driving link of described first self extending formula torque drive mechanism 13
The top of position.
The energising of first self extending formula torque drive mechanism 13 starts, the first self extending formula torque drive machine
Structure 13 shrinks, and because of the first unidirectional foot 1301 grip effect, driven member 6 moves forward, and rear second
Self extending formula torque drive mechanism 5 starts, the power-off of the first self extending formula torque drive mechanism 13, and
Two self extending formula torque drive mechanisms 5 shrink, because of the second unidirectional foot 601 grip effect, driven member 6
Pulling the second self extending formula torque drive mechanism 5 to move forward, meanwhile, front strut 14 protracts, fixed
Position part 1402 props up annulus 1401, and the first self extending formula torque drive mechanism 13 stress moves forward,
Realize the reach of whole device.
Described embodiment is only a part of embodiment of the present invention rather than whole embodiments.
Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, broadly falls into the scope of protection of the invention.
Claims (1)
1. a worm type based on torque drive stretches moving device, it is characterised in that include first
Self extending formula torque drive mechanism, the second self extending formula torque drive mechanism, two self extending formulas are reversed and are passed
Dynamic mechanism structure is identical, and self extending formula torque drive mechanism includes motor, is cased with motor casing outside motor
Body, motor is connected with decelerator, and decelerator coordinates with overload-release clutch, overload-release clutch and driving link
Coaxial flexible connection；
Driven member and driving link coaxial spaced are arranged, the shaft core position between driving link and driven member equipped with
Spring；
The edge of described driving link is fixed on institute equipped with some ropes for transmitting moment of torsion, rope end
Stating the edge of driven member, rope constitutes cage type with driving link, driven member；
Being provided with interior telescopic joint between described rope and spring, interior telescopic joint includes multistage spline housing, interior
Outside telescopic joint, medium position successively decreases step by step to two ends without leave, interior telescopic joint two ends respectively with driving link, from
Moving part connects, and wherein interior telescopic joint is fixing with driven member is connected, and is rotatably connected with driving link；
Interior telescopic joint outer jacket surface in the middle part of described interior telescopic joint is provided with keeper, and described rope is made by oneself
Passing in the part of position, the both sides along interior telescopic joint axis direction of keeper are respectively provided with limited block；
The outside of described rope is provided with overhanging casing coupling, and overhanging casing coupling includes multistage spline housing, overhanging casing coupling
External diameter successively decreases to driven member direction step by step from driving link, and the two ends of overhanging casing coupling are socketed in motor casing respectively
On body and driven member, the most overhanging casing coupling and described electric machine casing are fixedly sleeved, are can with driven member
Rotate socket；
Described first self extending formula torque drive mechanism and described second self extending formula torque drive mechanism with
Axle, driven member is relatively fixed Opposite direction connection；
The front lower ends of described first self extending formula torque drive mechanism equipped with the first unidirectional foot, second from
Lower end, telescopic torque drive mechanism rear portion is equipped with the second unidirectional foot, and driven member lower end is unidirectional equipped with the 3rd
Foot, first unidirectional sufficient, the second unidirectional sufficient, the 3rd unidirectional foot is ratchet shape, first unidirectional sufficient, second
Unidirectional sufficient, the 3rd unidirectional sufficient movable direction along the second self extending formula torque drive mechanism to first from stretching
Suo Shi torque drive mechanism；
Described first self extending formula torque drive mechanism is arranged over an annulus, and the second self extending formula is reversed
Drive mechanism is arranged above a front strut, and front strut is horizontal-extending, and end passes in annulus, front
Being provided with keeper in the middle part of strut, the position that keeper is arranged is, the first self extending formula torque drive mechanism
Elongation state, and the second self extending formula torque drive mechanism contraction state, described first self extending formula is turned round
Turn the top of the driving link position of drive mechanism；
The energising of first self extending formula torque drive mechanism starts, and the first self extending formula torque drive mechanism receives
Contracting, because of the first unidirectional sufficient grip effect, driven member moves forward, rear second self extending formula torque drive
Mechanism starts, the power-off of the first self extending formula torque drive mechanism, the second self extending formula torque drive mechanism
Shrink, because of the second unidirectional sufficient grip effect, driven member pull the second self extending formula torque drive mechanism to
Front movement, meanwhile, front strut protracts, and keeper props up annulus, the first self extending formula torque drive machine
Structure stress moves forward, it is achieved whole device moves forward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610466703.2A CN105922245B (en) | 2016-06-23 | 2016-06-23 | Worm type based on torque drive stretches moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610466703.2A CN105922245B (en) | 2016-06-23 | 2016-06-23 | Worm type based on torque drive stretches moving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105922245A true CN105922245A (en) | 2016-09-07 |
| CN105922245B CN105922245B (en) | 2018-02-02 |
Family
ID=56832075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610466703.2A Expired - Fee Related CN105922245B (en) | 2016-06-23 | 2016-06-23 | Worm type based on torque drive stretches moving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105922245B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146602A (en) * | 2021-03-30 | 2021-07-23 | 黑龙江工程学院 | Robot structure suitable for computer control |
| CN115454201A (en) * | 2022-08-19 | 2022-12-09 | 歌尔股份有限公司 | Synchronous functional part and electronic equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08261245A (en) * | 1995-03-20 | 1996-10-08 | Nippon Telegr & Teleph Corp <Ntt> | Torque transmission mechanism |
| CN2532954Y (en) * | 2002-03-27 | 2003-01-29 | 辽宁工程技术大学 | Snakelike robot |
| CN104196978A (en) * | 2014-08-05 | 2014-12-10 | 福建工程学院 | Twisting transmission device |
| CN105485471A (en) * | 2015-12-29 | 2016-04-13 | 燕山大学 | Worm-type pipeline crawling robot |
| CN205685328U (en) * | 2016-06-23 | 2016-11-16 | 福建工程学院 | Worm type based on torque drive stretches moving device |
-
2016
- 2016-06-23 CN CN201610466703.2A patent/CN105922245B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08261245A (en) * | 1995-03-20 | 1996-10-08 | Nippon Telegr & Teleph Corp <Ntt> | Torque transmission mechanism |
| CN2532954Y (en) * | 2002-03-27 | 2003-01-29 | 辽宁工程技术大学 | Snakelike robot |
| CN104196978A (en) * | 2014-08-05 | 2014-12-10 | 福建工程学院 | Twisting transmission device |
| CN105485471A (en) * | 2015-12-29 | 2016-04-13 | 燕山大学 | Worm-type pipeline crawling robot |
| CN205685328U (en) * | 2016-06-23 | 2016-11-16 | 福建工程学院 | Worm type based on torque drive stretches moving device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146602A (en) * | 2021-03-30 | 2021-07-23 | 黑龙江工程学院 | Robot structure suitable for computer control |
| CN113146602B (en) * | 2021-03-30 | 2022-09-02 | 黑龙江工程学院 | Robot structure suitable for computer control |
| CN115454201A (en) * | 2022-08-19 | 2022-12-09 | 歌尔股份有限公司 | Synchronous functional part and electronic equipment |
| CN115454201B (en) * | 2022-08-19 | 2023-11-17 | 歌尔股份有限公司 | Synchronous function piece and electronic equipment |
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| Publication number | Publication date |
|---|---|
| CN105922245B (en) | 2018-02-02 |
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Granted publication date: 20180202 Termination date: 20200623 |
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