CN106041994A - Device and method for achieving hose-rigid pipe conversion based on screw-nut principle - Google Patents
Device and method for achieving hose-rigid pipe conversion based on screw-nut principle Download PDFInfo
- Publication number
- CN106041994A CN106041994A CN201610590406.9A CN201610590406A CN106041994A CN 106041994 A CN106041994 A CN 106041994A CN 201610590406 A CN201610590406 A CN 201610590406A CN 106041994 A CN106041994 A CN 106041994A
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- Prior art keywords
- pipe
- nut
- steel ring
- flexible
- flexible rubber
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Extrusion Moulding Of Plastics Or The Like (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a device and method for achieving hose-rigid pipe conversion based on a screw-nut principle. The device comprises a limiting sleeve, a motor, a flexible rubber pipe, a steel ring and the like. The motor drives a nut on a screw rod to move linearly and vertically along the screw rod. The steel ring is composed of multiple annular rigid piece single bodies which are sequentially and movably arranged on the flexible rubber pipe and part of the limiting sleeve in a sleeving manner. The steel ring extends upwards to make contact with the nut and extends downwards to cover the whole flexible rubber pipe. When the nut gradually gets close to and extrudes the steel ring, the annular rigid piece single bodies extrude one another and are attached to one another, gaps are reduced continuously till the contact faces between every two adjacent annular rigid piece single bodies are attached to each other completely, the flexible rubber pipe is limited by the steel ring at the moment and cannot be bent at will, and therefore the flexible rubber pipe is converted into a rigid pipe to play effects of the rigid pipe. Thus, due to the fact that the steel ring is extruded, the flexible hose is converted into the rigid pipe to bear the gravity action of goods, the loads of parallel mechanical arms are reduced, the service life of the mechanical arm is prolonged, and use is wider and more flexible.
Description
Technical field
The present invention relates to the parts of mechanical arm, particularly relate to a kind of feed screw nut's principle and realize flexible pipe-rigid pipe conversion dress
Put and method.
Background technology
Along with the development of technology in science and technology, particularly robot field, occurred in that increasing with
The various technique devices etc. that robot is relevant, in industrial design, Industry Control, even all serve more and more heavier towards family
The effect wanted.
In industrial robot, what current Technical comparing was ripe is cascade machine mechanical arm, and emerging parallel mechanical arm is the most increasingly
It is subject to people's attention, but whether which kind of mechanical arm works independently, the most more or less have some less-than-ideal sides
Face.Some need the mechanical part moved within the specific limits to there is the problem that rigidity is poor, and it is do not have rigidity zero at all
Part as connector, and if can have the effect of compliant motion, have again rigidly connected effect, that just can solve
The problem of insufficient rigidity in moving component motor process.
Summary of the invention
The invention aims to the problem of insufficient rigidity in existing moving component motor process that solves, it is provided that Yi Zhongsi
Stem nut principle realizes flexible pipe-rigid pipe conversion equipment and method.
The present invention is achieved through the following technical solutions:
A kind of feed screw nut's principle realizes flexible pipe-rigid pipe conversion equipment, including stop collar 4, motor 1, flexible soft
Property rubber tube 6 and steel ring 7；Described motor 1 is fixed on the upper end of stop collar 4, and the rotating shaft of described motor 1 is stretched in stop collar 4, and
By shaft coupling 2 connection wire rod 3, the nut 5 on screw mandrel 3 is driven to move up and down along screw mandrel 3 straight line；The lower end of described stop collar 4
The fixing upper end connecting flexible rubber pipe 6；
Described steel ring 7 is by multiple annular tablet monomers being movably set in successively on flexible rubber pipe 6 and part stop collar 4
Forming, steel ring 7 extends upwardly to contact with nut 5, extends downward the whole flexible rubber pipe 6 of covering, and one of end
Annular tablet monomer is fixing with the end of flexible rubber pipe 6 to be connected；
When nut 5 away from or when not extruding steel ring 7, when flexible rubber pipe 6 is bent by external force, steel ring 7 is followed it and is synchronized
Bending；When nut 5 moves closer to and extrudes steel ring 7, mutually extruding, be adjacent between each annular tablet monomer, gap constantly subtracts
Little, until the contact surface between each annular tablet monomer is fitted completely, now flexible rubber pipe 6 is limited by steel ring 7, it is impossible to
Arbitrarily bending, and then it is changed into rigid pipe, play the effect of rigid pipe.
Stop collar 4 is provided with the stopper slot limiting nut 5 circumferential movement, thus when motor 1 drives screw mandrel 3 to rotate, spiral shell
Axially go up for linear motion along screw mandrel 3 for female 5.
Upper end and the lower end of described screw mandrel 3 are provided with stop, for limiting nut 5 movement travel upwardly or downwardly.
During described motor 1 drives screw mandrel 3 rotating, nut 5 is followed it and is made to advance or retreat on screw mandrel 3 to move.
The described DC speed-reducing that motor 1 is band coding disk.Described steel ring 7 and stop collar 4 and flexible rubber pipe 6
Coordinating is matched in clearance, and gap is generally 0.1mm～0.2mm.
A kind of flexible pipe-rigid pipe conversion method is as follows:
Under original state, nut 5 away from or do not contact with steel ring 7, although also or contacting with steel ring 7 but not applying power
Square；Now flexible rubber pipe 6 is in free bent state；
Motor 1 main story；Motor 1 drives shaft coupling 2 to rotate, and shaft coupling 2 drives screw mandrel 3 to rotate, and meanwhile nut 5 is to steel
Enclose 7 direction linear motions, to apply axial compression moment to steel ring 7, now, under the effect of nut 5 extruding, each annular tablet
Gap between monomer is gradually reduced, is mutually adjacent to, until the contact surface between each annular tablet monomer is fitted completely, the most soft
Property rubber tube 6 is limited by steel ring 7, it is impossible to arbitrarily bends, and then is changed into rigid pipe, play the effect of rigid pipe, with reality
Existing soft tube is to the conversion of rigid pipe；Now, if motor 1 inverts, nut 5 retreats, and gradually discharges the extruding force to steel ring 7
Square, the gap between each annular tablet monomer is gradually increased, and now the restriction of steel ring 7 broken away from by flexible rubber pipe 6, gradually recovers certainly
By case of bending, it is changed into flexible pipe in turn, plays the effect of soft tube, it is achieved by the conversion of rigid pipe to soft tube.
The present invention, relative to prior art, has such advantages as and effect:
Motor 1 of the present invention timing, drive shaft coupling 2 rotate, shaft coupling 2 drives screw mandrel 3 to rotate, meanwhile nut 5 to
Steel ring 7 direction moves along a straight line, and to apply axial compression moment to steel ring 7, now, under the effect of nut 5 extruding, each annular is firm
Gap between sheet monomer is gradually reduced, is mutually adjacent to, until the contact surface between each annular tablet monomer is fitted, now completely
Flexible rubber pipe 6 is limited by steel ring 7, it is impossible to arbitrarily bend, and then is changed into rigid pipe, plays the effect of rigid pipe, with
Realize the soft tube conversion to rigid pipe；If now motor 1 inverts, nut 5 retreats, and gradually discharges the extruding force to steel ring 7
Square, the gap between each annular tablet monomer is gradually increased, and now the restriction of steel ring 7 broken away from by flexible rubber pipe 6, gradually recovers certainly
By case of bending, it is changed into flexible pipe in turn, plays the effect of soft tube, it is achieved by the conversion of rigid pipe to soft tube.
In sum, under the effect of steel ring 7, the present invention is capable of the rapid translating between flexible bending and rigidity；
In parallel mechanical arm field, when parallel mechanical arm captures goods, platform is to need 360 degree of full range of motion, so reality
Existing flexibility is followed；But only acted on by goods gravity, therefore by steel ring 7 when goods is carried when mechanical arm grabs
Extruding under, flexible hose is changed into rigid pipe and bears the action of gravity of goods, decrease the load of parallel mechanical arm so that
The mechanical arm life-span is longer, uses more extensively, flexibly.
Accompanying drawing explanation
Fig. 1 is that feed screw nut's principle of the present invention realizes flexible pipe-rigid pipe conversion equipment schematic diagram.
Fig. 2 is Fig. 1 partial structurtes schematic diagram one.
Fig. 3 is Fig. 1 partial structurtes schematic diagram two.
Fig. 4 is Fig. 1 partial structurtes schematic diagram three.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Figures 1 to 4.The invention discloses a kind of feed screw nut's principle and realize flexible pipe-rigid pipe conversion equipment, including
Stop collar 4, motor 1, flexible flexible rubber pipe 6 and steel ring 7；Described motor 1 is fixed on the upper end of stop collar 4, described electricity
The rotating shaft of machine 1 is stretched in stop collar 4, and by shaft coupling 2 connection wire rod 3, drives the nut 5 on screw mandrel 3 along screw mandrel 3 straight line
Lower motion；The upper end connecting flexible rubber pipe 6 is fixed in the lower end of described stop collar 4；
Described steel ring 7 is by multiple annular tablet monomers being movably set in successively on flexible rubber pipe 6 and part stop collar 4
Forming, steel ring 7 extends upwardly to contact with nut 5, extends downward the whole flexible rubber pipe 6 of covering, and one of end
Annular tablet monomer is fixing with the end of flexible rubber pipe 6 to be connected；
When nut 5 away from or when not extruding steel ring 7, when flexible rubber pipe 6 is bent by external force, steel ring 7 is followed it and is synchronized
Bending；
When nut 5 moves closer to and extrudes steel ring 7, mutually extruding, be adjacent between each annular tablet monomer, gap is continuous
Reducing, until the contact surface between each annular tablet monomer is fitted completely, now flexible rubber pipe 6 is limited (example by steel ring 7
As by Qu Bianzhi), it is impossible to arbitrarily bend, and then be changed into rigid pipe, play the effect of rigid pipe.
Specifically, when this device is in commercial Application, when it follows machine movement, due to the flexible work of flexible rubber pipe 6
With, pursuit movement can be deformed easily, and the steel ring 7 being enclosed within stop collar 4 and flexible rubber pipe 6 external diameter is due to tool
(now steel ring 7 is not affected by extruding, in the raw), it is possible to followed by rubber tube deformation certain adjustable gap
Motion, is similar to the principle of calculus.
Stop collar 4 is provided with the stopper slot limiting nut 5 circumferential movement, thus when motor 1 drives screw mandrel 3 to rotate, spiral shell
Axially go up for linear motion along screw mandrel 3 for female 5；Stop collar 4 also can be fixed on above other machines by actual application.
Upper end and the lower end of described screw mandrel 3 are provided with stop, for limiting nut 5 movement travel upwardly or downwardly.
During described motor 1 drives screw mandrel 3 rotating, nut 5 is followed it and is made to advance or retreat on screw mandrel 3 to move.The present invention
Screw body use screw mandrel 3, nut 5 type of belt drive, wherein helical pitch and the line number of screw mandrel 3 can be according to the sound of actual requirement
Speed is answered to be replaced.
The described DC speed-reducing that motor 1 is band coding disk.Described steel ring 7 and stop collar 4 and flexible rubber pipe 6
Coordinating is matched in clearance, and gap is generally 0.1mm～0.2mm.Parameter such as thickness, the material etc. of steel ring 7 itself can be according to realities
Border range of movement situation is specifically chosen.
Inventive hose-rigid pipe conversion method, can be achieved by the steps of:
Under original state, nut 5 away from or do not contact with steel ring 7, although also or contacting with steel ring 7 but not applying power
Square；Now flexible rubber pipe 6 is in free bent state；
Motor 1 main story；Motor 1 drives shaft coupling 2 to rotate, and shaft coupling 2 drives screw mandrel 3 to rotate, and meanwhile nut 5 is to steel
Enclose 7 direction linear motions, to apply axial compression moment to steel ring 7, now, under the effect of nut 5 extruding, each annular tablet
Gap between monomer is gradually reduced, is mutually adjacent to, until the contact surface between each annular tablet monomer is fitted completely, the most soft
Property rubber tube 6 is limited by steel ring 7, it is impossible to arbitrarily bends, and then is changed into rigid pipe, play the effect of rigid pipe, with reality
Existing soft tube is to the conversion of rigid pipe；Now, if motor 1 inverts, nut 5 retreats, and gradually discharges the extruding force to steel ring 7
Square, the gap between each annular tablet monomer is gradually increased, and now the restriction of steel ring 7 broken away from by flexible rubber pipe 6, gradually recovers certainly
By case of bending, it is changed into flexible pipe in turn, plays the effect of soft tube, it is achieved by the conversion of rigid pipe to soft tube.
As it has been described above, just can preferably realize the present invention.
Embodiments of the present invention are also not restricted to the described embodiments, other any spirit without departing from the present invention
With the change made under principle, modify, substitute, combine, simplify, all should be the substitute mode of equivalence, be included in the present invention's
Within protection domain.
Claims (8)
1. feed screw nut's principle realizes flexible pipe-rigid pipe conversion equipment, it is characterised in that: include stop collar (4), motor
(1), flexible flexible rubber pipe (6) and steel ring (7)；
Described motor (1) is fixed on the upper end of stop collar (4), and the rotating shaft of described motor (1) is stretched in stop collar (4), and passes through
Shaft coupling (2) connection wire rod (3), drives the nut (5) on screw mandrel (3) to move up and down along screw mandrel (3) straight line；Described stop collar
(4) the fixing upper end connecting flexible rubber pipe (6), lower end；
Described steel ring (7) is by multiple annular tablet lists being movably set in successively on flexible rubber pipe (6) and part stop collar (4)
Body forms, and steel ring (7) extends upwardly to contact with nut (5), extends downward the whole flexible rubber pipe (6) of covering, and end
One annular tablet monomer of end is fixing with the end of flexible rubber pipe (6) to be connected；
When nut (5) away from or when not extruding steel ring (7), when flexible rubber pipe (6) is bent by external force, it is followed by steel ring (7)
Synchronize bending；
When nut (5) moves closer to and extrudes steel ring (7), mutually extruding, be adjacent between each annular tablet monomer, gap is continuous
Reducing, until the contact surface between each annular tablet monomer is fitted completely, now flexible rubber pipe (6) is by the limit of steel ring (7)
System, it is impossible to arbitrarily bend, and then be changed into rigid pipe, play the effect of rigid pipe.
The most according to claim 1, feed screw nut's principle realizes flexible pipe-rigid pipe conversion equipment, it is characterised in that: stop collar
(4) it is provided with the stopper slot of restriction nut (5) circumferential movement, thus when motor (1) drives screw mandrel (3) to rotate, nut (5) is only
Upper for linear motion along screw mandrel (3).
The most according to claim 1, feed screw nut's principle realizes flexible pipe-rigid pipe conversion equipment, it is characterised in that: described silk
Upper end and the lower end of bar (3) are provided with stop, are used for limiting nut (5) movement travel upwardly or downwardly.
The most according to claim 1, feed screw nut's principle realizes flexible pipe-rigid pipe conversion equipment, it is characterised in that: described electricity
During machine (1) drives screw mandrel (3) rotating, nut (5) is followed it and is advanced at the upper work of screw mandrel (3) or retreat mobile.
5. realize flexible pipe-rigid pipe conversion equipment, its feature according to feed screw nut's principle according to any one of Claims 1-4
It is: described motor (1) is the DC speed-reducing of band coding disk.
The most according to claim 5, feed screw nut's principle realizes flexible pipe-rigid pipe conversion equipment, it is characterised in that: described steel
Circle (7) is matched in clearance with stop collar (4) and coordinating of flexible rubber pipe (6).
The most according to claim 6, feed screw nut's principle realizes flexible pipe-rigid pipe conversion equipment, it is characterised in that: between described
Gap is 0.1mm～0.2mm.
8. flexible pipe-rigid pipe conversion method, it is characterised in that use feed screw nut according to any one of claim 1 to 7
Principle realizes flexible pipe-rigid pipe conversion equipment and realizes, and implementation step is as follows:
Under original state, nut (5) away from or do not contact with steel ring (7), although also or contacting with steel ring (7) but not applying
Moment；Now flexible rubber pipe (6) is in free bent state；
Motor (1) main story；Motor (1) drives shaft coupling (2) to rotate, and shaft coupling (2) drives screw mandrel (3) to rotate, meanwhile spiral shell
Female (5) move along a straight line to steel ring (7) direction, to apply axial compression moment to steel ring (7), now, at the work that nut (5) extrudes
Under with, the gap between each annular tablet monomer is gradually reduced, is mutually adjacent to, until the contact surface between each annular tablet monomer
Fitting completely, now flexible rubber pipe (6) is limited by steel ring (7), it is impossible to arbitrarily bends, and then is changed into rigid pipe, rises
To the effect of rigid pipe, to realize the soft tube conversion to rigid pipe；Now, if motor (1) reversion, nut (5) retreats, and by
Gradually discharging the extruding moment to steel ring (7), the gap between each annular tablet monomer is gradually increased, now flexible rubber pipe (6)
Breaking away from the restriction of steel ring (7), gradually affranchise case of bending, is changed into flexible pipe in turn, plays the effect of soft tube, it is achieved
Conversion by rigid pipe to soft tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610590406.9A CN106041994B (en) | 2016-07-25 | 2016-07-25 | A kind of feed screw nut's principle realizes hose-rigid pipe conversion equipment and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610590406.9A CN106041994B (en) | 2016-07-25 | 2016-07-25 | A kind of feed screw nut's principle realizes hose-rigid pipe conversion equipment and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041994A true CN106041994A (en) | 2016-10-26 |
| CN106041994B CN106041994B (en) | 2019-01-18 |
Family
ID=57417018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610590406.9A Expired - Fee Related CN106041994B (en) | 2016-07-25 | 2016-07-25 | A kind of feed screw nut's principle realizes hose-rigid pipe conversion equipment and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106041994B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109432617A (en) * | 2018-11-27 | 2019-03-08 | 安徽理工大学 | A kind of fire auxiliary rescue unmanned plane |
| CN113217730A (en) * | 2021-04-30 | 2021-08-06 | 昆山国力电子科技股份有限公司 | High-temperature-resistant high-vacuum interface capable of conveniently realizing rigid-flexible conversion |
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| JPH10277667A (en) * | 1997-04-09 | 1998-10-20 | Amada Eng Center:Kk | Punch press |
| CN102502265A (en) * | 2011-09-30 | 2012-06-20 | 三一重工股份有限公司 | End hose, end hose stiffness control system and pipeline transportation machinery |
| CN102884322A (en) * | 2010-04-08 | 2013-01-16 | 斯堪尼亚商用车有限公司 | System comprising pump, injector and regulator, with control signals to the pump which are based on calculated hose rigidities |
| CN105108774A (en) * | 2015-08-24 | 2015-12-02 | 中国科学院等离子体物理研究所 | Mechanical arm yaw driving device used under high vacuum and nuclear fusion environment |
| CN205185996U (en) * | 2015-10-30 | 2016-04-27 | 常州市凯凌车配有限公司 | Shock -damping cover |
| CN205889244U (en) * | 2016-07-25 | 2017-01-18 | 华南理工大学 | Does screw -nut principle realize hose rigid pipe conversion equipment |
-
2016
- 2016-07-25 CN CN201610590406.9A patent/CN106041994B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10277667A (en) * | 1997-04-09 | 1998-10-20 | Amada Eng Center:Kk | Punch press |
| CN102884322A (en) * | 2010-04-08 | 2013-01-16 | 斯堪尼亚商用车有限公司 | System comprising pump, injector and regulator, with control signals to the pump which are based on calculated hose rigidities |
| CN102502265A (en) * | 2011-09-30 | 2012-06-20 | 三一重工股份有限公司 | End hose, end hose stiffness control system and pipeline transportation machinery |
| CN105108774A (en) * | 2015-08-24 | 2015-12-02 | 中国科学院等离子体物理研究所 | Mechanical arm yaw driving device used under high vacuum and nuclear fusion environment |
| CN205185996U (en) * | 2015-10-30 | 2016-04-27 | 常州市凯凌车配有限公司 | Shock -damping cover |
| CN205889244U (en) * | 2016-07-25 | 2017-01-18 | 华南理工大学 | Does screw -nut principle realize hose rigid pipe conversion equipment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109432617A (en) * | 2018-11-27 | 2019-03-08 | 安徽理工大学 | A kind of fire auxiliary rescue unmanned plane |
| CN109432617B (en) * | 2018-11-27 | 2023-12-05 | 安徽理工大学 | Fire auxiliary rescue unmanned aerial vehicle |
| CN113217730A (en) * | 2021-04-30 | 2021-08-06 | 昆山国力电子科技股份有限公司 | High-temperature-resistant high-vacuum interface capable of conveniently realizing rigid-flexible conversion |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106041994B (en) | 2019-01-18 |
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Granted publication date: 20190118 Termination date: 20210725 |