CN106015497B - A kind of confined space position manipulator mechanism - Google Patents
A kind of confined space position manipulator mechanism Download PDFInfo
- Publication number
- CN106015497B CN106015497B CN201610317416.5A CN201610317416A CN106015497B CN 106015497 B CN106015497 B CN 106015497B CN 201610317416 A CN201610317416 A CN 201610317416A CN 106015497 B CN106015497 B CN 106015497B
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- China
- Prior art keywords
- driven pulley
- disk
- motor
- gear
- leading screw
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- 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.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/06—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts
- F16H37/065—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings with a plurality of driving or driven shafts; with arrangements for dividing torque between two or more intermediate shafts with a plurality of driving or driven shafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/06—Measuring arrangements specially adapted for aerodynamic testing
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of confined space position manipulator mechanism, belong to electromechanical and automatic measurement technical field, more particularly to it is a kind of be applicable to wind-tunnel move survey machine on can automatic measured data confined space position manipulator mechanism, it is characterized in that all controlling organization of the position manipulator mechanism, all outside confined space, only leading screw is located inside confined space.Compared with prior art, not only portable construction, response are fast, and all controlling organizations are all placed on outside confined space, are preferably minimized the interference to confined space environment for the device.It is a kind of a kind of confined space position manipulator mechanism for being preferably widely portable to the upper automatic measured data such as wind-tunnel, boiler.
Description
Technical field
A kind of confined space position manipulator mechanism of the present invention, belong to electromechanical and automatic measurement technical field, and in particular to
It is a kind of be applicable on wind-tunnel, boiler etc. can automatic measured data a kind of confined space position manipulator mechanism technical scheme.
Background technology
Some operating spaces are confined space, such as wind-tunnel, boiler etc., are operated in confined space, usual technology
It is that motion is placed in inside confined space, but does not occupy the limited bulk in confined space so, and to closed
Environmental effects in space.This just needs a kind of simple in construction, confined space position manipulator mechanism of rapid reaction, it is desirable to
Small volume shared by the position manipulator mechanism, confined space environment is influenceed small.
There are 3 rotary joints in SCARA robots, and its axis is parallel to each other, is planar positioned and oriented.Another
Joint is linear joint, for completing end piece in the motion perpendicular to plane.The position of wrist reference point is closed by two rotations
The angular displacement of section, and linear joint displacement determine.The portable construction of this kind of robot, response are fast.It is best suited for plane
Positioning, the operation that vertical direction is assembled.
The content of the invention
A kind of confined space position manipulator mechanism of the present invention, it is therefore intended that asked to overcome existing for above-mentioned prior art
Topic, so as to a kind of energy three-dimensional freedom movement of disclosure, and greatly reduce the volume of position manipulator mechanism, largely reduction pair
The technical scheme of the confined space position manipulator mechanism of the influence of confined space environment.
A kind of confined space position manipulator mechanism of the present invention, it is characterised in that be a kind of all transmission mechanisms all closed
The leading screw 17 of outside, only positioning probe can install various measuring probes inside confined space, in the lower end of leading screw 17
Confined space position manipulator mechanism, the confined space position manipulator mechanism mainly include bottom plate 15, the first disc assembly, the second circle
Disk component, steering mechanism, telescoping mechanism, leading screw 17 and probe 19；First disc assembly is by the first electric machine support 1, the first disk
Driving gear 2, the first motor 3 and the first disk driven pulley 4 form；Second disc assembly is by the second electric machine support 5, the second disk
Driving gear 6, the second motor 7 and the second disk driven pulley 8 form；Steering mechanism is by steering motor support 18, steering driving tooth
Wheel 16, steering motor 12 and steering driven pulley 14 form；Telescoping mechanism is by telescope motor support 9, flexible driving gear 10, flexible
Motor 11 and gear nut 13 form；The first disk driven pulley 4, the second disk driven pulley 8 and steering driven pulley 14 are all
Gear ring and circular mounting plate are engaged and formed；The leading screw 17 is two planes of milling in the axial direction on the face of cylinder of leading screw
It is process；In the circular hole for the bottom plate 15 that the insertion of first disk driven pulley 4 matches with its periphery, and can be around the center in hole
Line rotates；The lower surface of first disk driven pulley 4 is concordant with the lower surface of bottom plate 15, and upper surface is gear ring, the lower surface of gear ring
It is supported on bottom plate 15, contacts and seal inside and outside；First motor 3 is arranged on the first electric machine support 1, the first electric machine support 1
It is fixed on bottom plate 15, the first disk driving gear 2 is arranged on the axle of the first motor 3；Second motor 7 is arranged on the second motor branch
On frame 5, the second electric machine support 5 is fixed on the first disk driven pulley 4, and the second disk driving gear 6 is arranged on the axle of the second motor 7
On；In the second disk driven pulley 8 insertion circular hole of the first disk driven pulley 4, and it can be rotated around the center line in hole, its lower surface and the
The surface of one disk driven pulley 4 contacts and seals inside and outside；Steering motor 12 is arranged on steering motor support 18, steering motor
Support 18 is fixed on the second disk driven pulley 8, and diversion driving-gear 16 is arranged on the axle of steering motor 12；Turn to driven pulley 14
In the embedded circular hole of second disk driven pulley 8, and it can be rotated around the center line in hole, its lower surface and the surface of the second disk driven pulley 8
Contact and seal inside and outside, leading screw 17 is through the center of driven pulley 14 and the cross sectional shape identical hole of screw mandrel 17 is turned to, so as to turn
Being rotated to driven pulley 14 drives leading screw 17 to rotate；Telescope motor 11 is arranged on telescope motor support 9, and telescope motor support 9 is solid
It is scheduled on the second disk driven pulley 8, the driving gear 10 that stretches is arranged on the axle of telescope motor 11, and gear nut 13 is arranged on leading screw
On 17, the outer rim of gear nut 13 is processed into gear and engaged with flexible driving gear 10, and it, which is rotated, drives leading screw 17 to lift, bearing 20
Outer fringe surface coordinate with turning to driven pulley 14 concave surface, its inner rim surface coordinates with the outer concave surface of gear nut 13, bearing
20 are engaged with fixed mount 21 and make the axially position of gear nut 13；
The radius of the first disk driven pulley 4 is twice of the radius of the second disk driven pulley 8, the second disk driven pulley 8
The center of circle to leading screw 17 distance be the second disk driven pulley 8 radius, it is such design enable leading screw 17 navigate to cylinder sky
Between in any point and unspecified angle；First motor 3 by drive the first disk driving gear 2 come drive the first disk from
Driving wheel 4 rotates；Second motor 7 is by driving the second disk driving gear 6 to drive the second disk driven pulley 8 to rotate；Turn to electricity
Machine 12 drives steering driven pulley 14 to rotate by driving diversion driving-gear 16, drives leading screw 17 to turn to, and telescope motor 11 is logical
Flexible driving gear 10 of overdriving carrys out drive gear nut 13 and rotated, and drives leading screw 17 to lift.
Above-mentioned first disk driven pulley (4), the second disk driven pulley (8) and steering driven pulley (14), which realize, to be moved and seals
Space has been closed, bar can be reduced to when being both drive member analysis, be space wall again.
A kind of confined space position manipulator mechanism of the present invention, its advantage and advantage are:
(1) circular driven pulley, which realizes, moves and encloses space, is both driving member (bar can be reduced to during motion analysis)
It is space wall again.
(2) any point and unspecified angle that the present invention can navigate to the probe for being installed on leading screw lower end in cylindrical space.
(3) most mechanisms of the invention are outside confined space, and only leading screw is located within confined space.
Brief description of the drawings
Figure one is the schematic diagram one of confined space position manipulator mechanism
Figure two is the schematic diagram two of confined space position manipulator mechanism
In figure marked as：1. the disk driven pulley of 2. first disk driving gear of the first electric machine support, 3. first motor 4. first
5. 10. turns of 9. steering motor support of the second electric machine support 6. second disk driving gear, 7. second 8. second disk driven pulley of motor
The bottom plate 16. of driven pulley 15. is turned to the gear nut 14. of 11. steering motor of driving gear, 12. telescope motor 13. to stretch driving tooth
Take turns the telescope motor support 19. of the 17. leading screw 18. probe fixed mount of 20. bearing 21.
Embodiment
To make the goal of the invention of the present invention, technical scheme and advantage clearer, the present invention is existed below in conjunction with accompanying drawing
The embodiment used in test chamber is described in further detail.
The device for driving probe to move and position in test chamber, which is called, moves survey machine.It is test chamber to move survey machine
In important mechanism.In wind tunnel test, by controlling movement of the probe in test section, it can be distributed, pulsed with measuring speed
Pressure and turbulivity etc..The utility model applies in test chamber, energy Three Degree Of Freedom mobile probe, measurement data, and
The volume of movable measuring device is significantly reduced, largely reduces the influence to Flow Field in Wind Tunnel.
Referring to shown in preceding accompanying drawing, confined space position manipulator mechanism mainly includes bottom plate 15, the first disc assembly, and
Two disc assemblies, steering mechanism, telescoping mechanism, leading screw 17, probe 19；First disc assembly includes the first electric machine support 1, first
Disk driving gear 2, the first motor 3, the first disk driven pulley 4；Second disc assembly is justified including the second electric machine support 5, second
Disk driving gear 6, the second motor 7, the second disk driven pulley 8；Steering mechanism includes steering motor support 18, diversion driving-gear
16th, steering motor 12, steering driven pulley 14；Telescoping mechanism includes telescope motor support 9, flexible driving gear 10, telescope motor
11st, gear nut 13；It is characterized in that：
The driven pulley 4,8,14 is all that gear ring and installing plate are engaged and formed.
The leading screw 17 need to pass through special processing, be exactly two planes of milling in the axial direction on the face of cylinder of leading screw.
In the circular hole for the bottom plate 15 that the insertion of first disk driven pulley 4 matches with its periphery, and can be around the center in hole
Line rotates.The lower surface of first disk driven pulley 4 is concordant with the lower surface of bottom plate 15, and upper surface is gear ring, the lower surface of gear ring
It is supported on bottom plate 15, contacts and seal inside and outside.First motor 3 is arranged on the first electric machine support 1, the first electric machine support 1
It is fixed on bottom plate 15, the first disk driving gear 2 is arranged on the axle of the first motor 3；Second motor 7 is arranged on the second motor branch
On frame 5, the second electric machine support 5 is fixed on the first disk driven pulley 4, and the second disk driving gear 6 is arranged on the axle of the second motor 7
On.In the second disk driven pulley 8 insertion circular hole of the first disk driven pulley 4, and it can be rotated around the center line in hole, its lower surface and the
The surface of one disk driven pulley 4 contacts and seals inside and outside；Steering motor 12 is arranged on steering motor support 18, steering motor
Support 18 is fixed on the second disk driven pulley 8, and diversion driving-gear 16 is arranged on the axle of steering motor 12.Turn to driven pulley 14
In the embedded circular hole of second disk driven pulley 8, and it can be rotated around the center line in hole, its lower surface and the surface of the second disk driven pulley 8
Contact and seal inside and outside.The insertion of leading screw 17 is turned in driven pulley 14, and 17 turns of leading screw of drive is rotated so as to turn to driven pulley 14
It is dynamic；Telescope motor 11 is arranged on telescope motor support 9, and telescope motor support 9 is fixed on the second disk driven pulley 8, is stretched
Driving gear 10 is arranged on the axle of telescope motor 11, and gear nut 13 is arranged on leading screw 17.The center of gear nut 13 is machined with
Screw thread, it is engaged with leading screw 17, it, which is rotated, drives leading screw 17 to lift.The outer fringe surface of bearing 20 is with turning to the indent table of driven pulley 14
Face coordinates, and its inner rim surface coordinates with the outer concave surface of gear nut 13.Bearing 20 is engaged with fixed mount 21 makes gear nut 13
Axially position；；
The radius of the first disk driven pulley 4 is twice of the radius of the second disk driven pulley 8, the second disk driven pulley 8
The center of circle to leading screw 17 distance be the second disk driven pulley 8 radius, any for enabling leading screw 17 to navigate in cylindrical space
Point and unspecified angle.
The motor includes the first motor 3, the second motor 7, steering motor 12, telescope motor 11；First motor 3 passes through drive
The first disk driving gear 2 is moved to drive the first disk driven pulley 4 to rotate.Second motor 7 is by driving the second disk driving tooth
6 are taken turns to drive the second disk driven pulley 8 to rotate.Steering motor 12 drives steering driven pulley by driving diversion driving-gear 16
14 rotations, so as to drive leading screw 17 to turn to, telescope motor 11 is by driving flexible driving gear 10 to be revolved come drive gear nut 13
Turn, so as to drive leading screw 17 to lift.
Position manipulator mechanism is similar to SCARA robots.The large arm of the similar machine people of first disk driven pulley 4, the second disk
The joint rotation of the forearm of the similar machine people of driven pulley 8, large arm and forearm realizes two-dimensional localization of the end in plane of leading screw 17.
The wrist of steering mechanism similar machine people, it drives leading screw 17 to turn to, so as to realize that the angle of leading screw 17 positions.Telescoping mechanism class
Like the linear joint of robot, it drives the lifting of leading screw 17, so as to realize the positioning of the vertical direction of leading screw 17.
Position manipulator mechanism carries out various pose adjustments and the probe 19 of wind speed is measured on leading screw 17 opens to ensure to be arranged on
The direction that mouth always comes towards wind.
Claims (2)
1. a kind of confined space position manipulator mechanism, it is characterised in that be a kind of all transmission mechanisms all outside confined space
The leading screw (17) in portion, only positioning probe can install the close of various measuring probes inside confined space, in leading screw (17) lower end
Space orientation operating mechanism is closed, the confined space position manipulator mechanism mainly includes bottom plate (15), the first disc assembly, the second circle
Disk component, steering mechanism, telescoping mechanism, leading screw (17) and probe (19)；First disc assembly is by the first electric machine support (1),
One disk driving gear (2), the first motor (3) and the first disk driven pulley (4) composition；Second disc assembly is by the second motor branch
Frame (5), the second disk driving gear (6), the second motor (7) and the second disk driven pulley (8) composition；Steering mechanism is by turning to electricity
Machine support (18), diversion driving-gear (16), steering motor (12) and steering driven pulley (14) composition；Telescoping mechanism is by flexible electricity
Machine support (9), flexible driving gear (10), telescope motor (11) and gear nut (13) composition；The first disk driven pulley
(4), the second disk driven pulley (8) and steering driven pulley (14) are all that gear ring and circular mounting plate are engaged and formed；The silk
Thick stick (17) is that two plane machinings of milling form in the axial direction on the face of cylinder of leading screw；The first disk driven pulley (4) is embedding
In the circular hole for entering the bottom plate (15) to match with its periphery, and it can be rotated around the center line in hole；Under first disk driven pulley (4)
Surface is concordant with the lower surface of bottom plate (15), and upper surface is gear ring, and the lower surface of gear ring is supported on bottom plate (15), contacts and close
Seal inside and outside；First motor (3) is arranged on the first electric machine support (1), and the first electric machine support (1) is fixed on bottom plate (15),
First disk driving gear (2) is arranged on the first motor (3) axle；Second motor (7) is arranged on the second electric machine support (5),
Second electric machine support (5) is fixed on the first disk driven pulley (4), and the second disk driving gear (6) is arranged on the second motor (7)
On axle；In embedded first disk driven pulley (4) circular hole of second disk driven pulley (8), and it can be rotated around the center line in hole, its following table
Face contacts with first disk driven pulley (4) surface and seals inside and outside；Steering motor (12) is arranged on steering motor support
(18) on, steering motor support (18) is fixed on the second disk driven pulley (8), and diversion driving-gear (16), which is arranged on, turns to electricity
On machine (12) axle；Turn in embedded second disk driven pulley (8) circular hole of driven pulley (14), and can be rotated around the center line in hole, its
Lower surface is contacted with second disk driven pulley (8) surface and seals inside and outside, and leading screw (17), which passes through, to be turned in driven pulley (14)
The heart and screw mandrel (17) cross sectional shape identical hole, drive leading screw (17) rotation is rotated so as to turn to driven pulley (14)；Telescope motor
(11) it is arranged on telescope motor support (9), telescope motor support (9) is fixed on the second disk driven pulley (8), is stretched actively
Gear (10) is arranged on telescope motor (11) axle, and gear nut (13) is arranged on leading screw (17), gear nut (13) outer rim
Gear is processed into engage with flexible driving gear (10), its rotate drive leading screw (17) lifting, the outer fringe surface of bearing (20) with
Driven pulley (14) concave surface is turned to coordinate, its inner rim surface and gear nut (13) outer concave surface coordinate, bearing (20) with it is solid
Determine frame (21) and be engaged to make gear nut (13) axially position；The radius of the first disk driven pulley (4) be the second disk from
Twice of driving wheel (8) radius, the center of circle of the second disk driven pulley (8) to the distance of leading screw (17) is the second disk driven pulley (8)
Radius, such design makes any point and unspecified angle that leading screw (17) can be navigated in cylindrical space；First motor
(3) the first disk driven pulley (4) is driven to rotate by driving the first disk driving gear (2)；Second motor (7) passes through driving
Second disk driving gear (6) come drive the second disk driven pulley (8) rotate；Steering motor (12) turns to driving tooth by driving
Take turns (16) and turn to driven pulley (14) rotation to drive, drive leading screw (17) to turn to, telescope motor (11) is flexible actively by driving
Gear (10) carrys out drive gear nut (13) rotation, drives leading screw (17) lifting.
2. a kind of confined space position manipulator mechanism according to claim 1, it is characterised in that first disk is driven
Wheel (4), the second disk driven pulley (8) and steering driven pulley (14), which realize, to move and encloses space, is both drive member
Bar can be reduced to during analysis, is space wall again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610317416.5A CN106015497B (en) | 2016-05-16 | 2016-05-16 | A kind of confined space position manipulator mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610317416.5A CN106015497B (en) | 2016-05-16 | 2016-05-16 | A kind of confined space position manipulator mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106015497A CN106015497A (en) | 2016-10-12 |
| CN106015497B true CN106015497B (en) | 2017-11-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610317416.5A Expired - Fee Related CN106015497B (en) | 2016-05-16 | 2016-05-16 | A kind of confined space position manipulator mechanism |
Country Status (1)
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| CN (1) | CN106015497B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108534980B (en) * | 2018-06-27 | 2023-05-16 | 郑州大学 | Cooling tower group tower surface wind pressure interference effect test equipment and application method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2183584B1 (en) * | 1972-05-10 | 1974-09-27 | Commissariat Energie Atomique | |
| JP2629826B2 (en) * | 1988-05-25 | 1997-07-16 | 松下電器産業株式会社 | Industrial robot operation area limited device |
| JP2567082B2 (en) * | 1989-03-02 | 1996-12-25 | ファナック株式会社 | Joint structure of industrial robot |
| US8784033B2 (en) * | 2009-01-11 | 2014-07-22 | Applied Materials, Inc. | Robot systems, apparatus and methods for transporting substrates |
| US20120063874A1 (en) * | 2010-09-15 | 2012-03-15 | Applied Materials, Inc. | Low profile dual arm vacuum robot |
| CN105397802B (en) * | 2015-11-30 | 2017-08-01 | 梅江平 | A kind of coaxial output mechanism of four-degree-of-freedom |
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2016
- 2016-05-16 CN CN201610317416.5A patent/CN106015497B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN106015497A (en) | 2016-10-12 |
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Effective date of registration: 20181205 Address after: 030032 No. 1 South Factory Building of Nanwangming Village, Xiwenzhuang Township, Xiaodian District, Taiyuan City, Shanxi Province Patentee after: Taiyuan Huanyu Hydraulic Machinery Co.,Ltd. Address before: 030024 79 Yingze West Street, wanBerlin District, Taiyuan, Shanxi Patentee before: Taiyuan University of Technology |
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Granted publication date: 20171114 Termination date: 20190516 |
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| CF01 | Termination of patent right due to non-payment of annual fee |