CN105922245B - Worm type based on torque drive stretches moving device - Google Patents
Worm type based on torque drive stretches moving device Download PDFInfo
- Publication number
- CN105922245B CN105922245B CN201610466703.2A CN201610466703A CN105922245B CN 105922245 B CN105922245 B CN 105922245B CN 201610466703 A CN201610466703 A CN 201610466703A CN 105922245 B CN105922245 B CN 105922245B
- Authority
- CN
- China
- Prior art keywords
- torque drive
- drive mechanism
- self extending
- extending formula
- driven member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- 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
Abstract
The invention discloses a kind of flexible moving device of worm type based on torque drive, including first, second self extending formula torque drive mechanism, electric machine casing is cased with the outside of self extending formula torque drive mechanism motor, motor is connected with decelerator, and decelerator coordinates with overload-release clutch；Shaft core position between driving link and driven member is equipped with spring；The edge of driving link is equipped with rope, and rope end is fixed on the edge of driven member, and the first self extending formula torque drive mechanism and the second self extending formula torque drive mechanism are coaxial, and driven member is relatively fixed Opposite direction connection；First self extending formula torque drive mechanism also includes front strut equipped with the second unidirectional foot, driven member lower end equipped with the first unidirectional foot, the second self extending formula torque drive mechanism equipped with the 3rd unidirectional foot, device.The present invention realizes the flexible traveling of this worm type using torque drive principle, can not require it is bigger by space in the case of directly advanced along straight line.
Description
Technical field
The present invention relates to mechanical field, is related to a kind of linear moving apparatus, more particularly to a kind of based on the compacted of torque drive
Worm formula is stretched moving device.
Background technology
Straight-line motion mechanism is certain point on component is made accurate or approximate straight line motion mechanism.Late period the 17th century, in people
There is a kind of Machine Design thought before producing accurate slide bar and guide groove in class, it is therefore an objective to the easy tablet of manufacture, connecting rod
The guide groove of linear and the function of slide bar are completed in combination with hinge, certain point on component is made accurate or approximate straight line motion.Due to
Without difficulty, this mechanism is rare for present machining high-precision slide bar and guide groove, and only in instrument and some mechanically also have should
With.But bionics Machine Design of this design philosophy for the modern times has important evocation.Straight-line motion mechanism is divided into
Approximate straight line motion and two classes accurately to move along a straight line, they have the characteristics of respective, are used in different occasions.
The size of robot will determine according to the size of its energy and executive item, some robots can not design it is too small,
In some special cases, robot will by a tubular space, common technology be by Robot Design into strips, make
It cuts that section is small and volume reaches, and the move mode of this robot is typically Bionic Design into snake formula is mobile or Inchworm type movement,
Prior art is exactly to simulate both animals to move.
Snake formula move mode is that the right side that keeps left bends the body a part, body another part is produced what side force was carried out, because
This snake wiggly can only advance, and can not directly walk true line.Inchworm type movement is same to bend the body up and down.Both motions
Mode is required for larger lateral space, is unfavorable for passing through tubular space.
The content of the invention
The purpose of the present invention be using it is autologous it is flexible by the way of, exploitation is a kind of to pass through space not requiring bigger
In the case of directly along straight line advance the worm type based on torque drive stretch moving device.
For achieving the above object, the technical scheme is that：A kind of worm type based on torque drive stretches row
Enter device, including the first self extending formula torque drive mechanism, the second self extending formula torque drive mechanism, two self extending formulas, which are reversed, to be passed
Dynamic mechanism structure is identical, and self extending formula torque drive mechanism includes motor, and electric machine casing, motor and decelerator are cased with the outside of motor
Connection, decelerator coordinate with overload-release clutch, and overload-release clutch is coaxially flexibly connected with driving link；
Driven member is set with driving link coaxial spaced, and the shaft core position between driving link and driven member is equipped with spring；
The edge of the driving link is fixed on the driven member equipped with some ropes for being used to transmit moment of torsion, rope end
Edge, rope form cage type with driving link, driven member；
Interior telescopic joint is installed, interior telescopic joint includes multistage spline housing, interior telescopic joint external diameter between the rope and spring
Successively decrease step by step from medium position to both ends, interior telescopic joint both ends are connected with driving link, driven member respectively, wherein interior telescopic joint with from
Moving part is fixedly connected, and is rotatably connected with driving link；
Interior telescopic joint outer jacket surface in the middle part of the interior telescopic joint is provided with keeper, is worn in the self-positioning part of rope
Cross, the both sides along interior telescopic joint axis direction of keeper are respectively provided with limited block；
The outside of the rope is provided with overhanging casing coupling, and overhanging casing coupling includes multistage spline housing, and overhanging casing coupling external diameter is from actively
Part successively decreases step by step to driven member direction, and the both ends of overhanging casing coupling are socketed in the upper of electric machine casing and driven member respectively, wherein overhanging
Casing coupling is fixedly sleeved with the electric machine casing, is rotatable socket with driven member；
The first self extending formula torque drive mechanism and the second self extending formula torque drive mechanism are coaxial, driven member
It is relatively fixed Opposite direction connection；
The front lower ends of the first self extending formula torque drive mechanism are reversed equipped with the first unidirectional foot, the second self extending formula
Equipped with the second unidirectional foot, driven member lower end is the first unidirectional foot, second unidirectional equipped with the 3rd unidirectional foot for transmission mechanism rear portion lower end
Foot, the 3rd unidirectional foot be ratchet shape, and the first unidirectional foot, the second unidirectional foot, the 3rd unidirectional sufficient movable direction are along the second self extending
Formula torque drive mechanism is to the first self extending formula torque drive mechanism；
An annulus is provided with above the first self extending formula torque drive mechanism, in the second self extending formula torque drive mechanism
Side is provided with a front strut, and front strut is horizontal-extending, and end passes through from annulus, and keeper, keeper are provided with the middle part of front strut
The position of setting is the first self extending formula torque drive mechanism elongation state, and the second self extending formula torque drive mechanism shrinks
State, the top of the driving link position of the first self extending formula torque drive mechanism；
First self extending formula torque drive mechanism, which is powered, to be started, and the first self extending formula torque drive mechanism shrinks, because of first
Unidirectional sufficient grip effect, driven member move forward, and rear second self extending formula torque drive mechanism starts, and the first self extending formula is reversed
Transmission mechanism powers off, and the second self extending formula torque drive mechanism shrinks, and because of the second unidirectional sufficient grip effect, driven member pulls second
Self extending formula torque drive mechanism moves forward, meanwhile, front strut extension, keeper props up annulus, and the first self extending formula is reversed
Transmission mechanism stress moves forward, and realizes that whole device moves forward.
The beneficial effects of the invention are as follows：
The present invention realizes that this worm type is flexible using torque drive principle and advanced, and can pass through not requiring bigger
Directly advanced in the case of space along straight line.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Embodiment
The technical scheme in the embodiment of the present invention is clearly and completely described below in conjunction with accompanying drawing.
As shown in figure 1, a kind of worm type based on torque drive disclosed by the invention stretch moving device, including first from
Telescopic torque drive mechanism, the second self extending formula torque drive mechanism, two self extending formula torque drive mechanism structures are identical, bag
Motor 1 is included, the outside of motor 1 is cased with electric machine casing 101, and motor 1 is connected with decelerator 2, and decelerator 2 coordinates with overload-release clutch 3,
Overload-release clutch 3 is coaxially flexibly connected with driving link 4；
Driven member 6 is set with the coaxial spaced of driving link 4, and the shaft core position between driving link 4 and driven member 6 is equipped with spring 8；
Equipped with some ropes 7 for being used to transmit moment of torsion, the end of rope 7 is fixed on described driven at the edge of the driving link 4
The edge of part 6, rope 7 form cage type with driving link 4, driven member 6；
Interior telescopic joint 9 is installed, interior telescopic joint 9 includes multistage spline housing, interior telescopic joint 9 between the rope 7 and spring 8
Medium position successively decreases step by step to both ends without leave outside, and the interior both ends of telescopic joint 9 are connected with driving link 4, driven member 6 respectively, wherein interior stretch
Casing coupling 9 is fixedly connected with driven member 6, is rotatably connected with driving link 4；
The interior outer surface of telescopic joint overcoat 901 at the middle part of interior telescopic joint 9 is provided with keeper 10, and the rope 7 is self-positioning
Passed through in part 10, the both sides along the interior axis direction of telescopic joint 9 of keeper 10 are respectively provided with limited block 11；
The outside of the rope 7 is provided with overhanging casing coupling 12, and overhanging casing coupling 12 includes multistage spline housing, the overhanging external diameter of casing coupling 12
Successively decrease step by step from driving link 4 to the direction of driven member 6, the both ends of overhanging casing coupling 12 are socketed in electric machine casing 101 and driven member 6 respectively
It is upper, be rotatable socket with driven member 6 wherein overhanging casing coupling 12 and electric machine casing 101 are fixedly sleeved.
The first self extending formula torque drive mechanism 13 and the second self extending formula torque drive mechanism 5 are coaxial, from
Moving part 6 is relatively fixed Opposite direction connection.
The front lower ends of the first self extending formula torque drive mechanism 13 are equipped with the first unidirectional foot 1301, the second self extending
The rear portion lower end of formula torque drive mechanism 5 is equipped with the second unidirectional foot 501, and for the lower end of driven member 6 equipped with the 3rd unidirectional foot 601, first is single
It is ratchet shape to the unidirectional foot 601 of the unidirectional foot the 501, the 3rd of foot 1301, second, movable direction is along the second self extending formula torque drive machine
Structure 5 is to the first self extending formula torque drive mechanism 13.
The top of first self extending formula torque drive mechanism 13 is provided with an annulus 1401, the second self extending formula torque drive
The top of mechanism 5 is provided with a front strut 14, and front strut 14 is horizontal-extending, and end passes through from annulus 1401, the middle part of front strut 14
Provided with keeper 1402, the position that keeper 1402 is set exists, the elongation state of the first self extending formula torque drive mechanism 13, and the
The contraction state of two self extending formula torque drive mechanism 5, the driving link institute of the first self extending formula torque drive mechanism 13 are in place
The top put.
First self extending formula torque drive mechanism 13, which is powered, to be started, and the first self extending formula torque drive mechanism 13 shrinks, because
First unidirectional foot 1301 grips effect, driven member 6 move forward, and rear second self extending formula torque drive mechanism 5 starts, and first certainly
Telescopic torque drive mechanism 13 powers off, and the second self extending formula torque drive mechanism 5 shrinks, because the second 601 grips of unidirectional foot are made
With, driven member 6 pulls the second self extending formula torque drive mechanism 5 to move forward, meanwhile, front strut 14 protracts, keeper 1402
Annulus 1401 is propped up, the stress of the first self extending formula torque drive mechanism 13 moves forward, and realizes that whole device moves forward.
Described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Claims (1)
- The moving device 1. a kind of worm type based on torque drive stretches, it is characterised in that reverse and pass including the first self extending formula Motivation structure, the second self extending formula torque drive mechanism, two self extending formula torque drive mechanism structures are identical, and self extending formula, which is reversed, to be passed Motivation structure includes motor, and electric machine casing is cased with the outside of motor, and motor is connected with decelerator, and decelerator coordinates with overload-release clutch, Overload-release clutch is coaxially flexibly connected with driving link；Driven member is set with driving link coaxial spaced, and the shaft core position between driving link and driven member is equipped with spring；The edge of the driving link is fixed on the side of the driven member equipped with some ropes for being used to transmit moment of torsion, rope end Edge, rope form cage type with driving link, driven member；Interior telescopic joint is installed between the rope and spring, interior telescopic joint includes multistage spline housing, outside interior telescopic joint without leave in Portion position is successively decreased step by step to both ends, and interior telescopic joint both ends are connected with driving link, driven member respectively, wherein interior telescopic joint and driven member It is fixedly connected, is rotatably connected with driving link；Interior telescopic joint outer jacket surface in the middle part of the interior telescopic joint is provided with keeper, is passed through in the self-positioning part of rope, fixed The both sides along interior telescopic joint axis direction of position part are respectively provided with limited block；The outside of the rope is provided with overhanging casing coupling, and overhanging casing coupling includes multistage spline housing, overhanging casing coupling external diameter from driving link to Driven member direction is successively decreased step by step, and the both ends of overhanging casing coupling are socketed on electric machine casing and driven member respectively, wherein overhanging casing coupling with The electric machine casing is fixedly sleeved, is rotatable socket with driven member；The first self extending formula torque drive mechanism and the second self extending formula torque drive mechanism are coaxial, and driven member is relative Fixed Opposite direction connection；The front lower ends of the first self extending formula torque drive mechanism are equipped with the first unidirectional foot, the second self extending formula torque drive Mechanism rear portion lower end is equipped with the second unidirectional foot, and driven member lower end is equipped with the 3rd unidirectional foot, the first unidirectional foot, the second unidirectional foot, the Three unidirectional foots are ratchet shape, and the first unidirectional foot, the second unidirectional foot, the movable direction of the 3rd unidirectional foot are reversed along the second self extending formula Transmission mechanism is to the first self extending formula torque drive mechanism；An annulus is provided with above the first self extending formula torque drive mechanism, is pacified above the second self extending formula torque drive mechanism Equipped with a front strut, front strut is horizontal-extending, and end passes through from annulus, and keeper is provided with the middle part of front strut, and keeper is set Position be the first self extending formula torque drive mechanism elongation state, and the second self extending formula torque drive mechanism contraction state, The top of the driving link position of the first self extending formula torque drive mechanism；First self extending formula torque drive mechanism, which is powered, to be started, and the first self extending formula torque drive mechanism shrinks, because first unidirectional Sufficient grip effect, driven member move forward, and rear second self extending formula torque drive mechanism starts, the first self extending formula torque drive Mechanism power-off, the second self extending formula torque drive mechanism shrink, and because of the second unidirectional sufficient grip effect, driven member pulls second to stretch certainly Suo Shi torque drives mechanism moves forward, meanwhile, front strut extension, keeper props up annulus, the first self extending formula torque drive Mechanism stress moves forward, and realizes that 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 CN105922245A (en) | 2016-09-07 |
| CN105922245B true 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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146602B (en) * | 2021-03-30 | 2022-09-02 | 黑龙江工程学院 | Robot structure suitable for computer control |
| CN115454201B (en) * | 2022-08-19 | 2023-11-17 | 歌尔股份有限公司 | Synchronous function piece and electronic equipment |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3422122B2 (en) * | 1995-03-20 | 2003-06-30 | 日本電信電話株式会社 | Torque transmission mechanism |
| CN2532954Y (en) * | 2002-03-27 | 2003-01-29 | 辽宁工程技术大学 | Snakelike robot |
| CN104196978B (en) * | 2014-08-05 | 2016-08-17 | 福建工程学院 | A kind of torque drive device |
| CN105485471B (en) * | 2015-12-29 | 2017-05-31 | 燕山大学 | Worm type pipeline climbing 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
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| CN105922245A (en) | 2016-09-07 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180202 Termination date: 20200623 |
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| CF01 | Termination of patent right due to non-payment of annual fee |