CN109654346B

CN109654346B - Telescopic mast device

Info

Publication number: CN109654346B
Application number: CN201811634018.1A
Authority: CN
Inventors: 刘玉旺; 杨尚奎; 张永超; 晁俊杰
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2021-04-20
Anticipated expiration: 2038-12-29
Also published as: CN109654346A

Abstract

The invention relates to a telescopic device, in particular to a telescopic mast device. The pedestal, the mast, the flexible actuating mechanism of mast, the chuck, winding mechanism and top locking device, wherein be equipped with a plurality of winding mechanisms along circumference on the base, the chuck sets up in a plurality of winding mechanisms's top, and relative base is fixed, the mast is as the polyhedral structure of side respectively by many strap, the one end of many strap is twined respectively on a plurality of winding mechanisms, the other end passes the state of flare-outing behind the chuck, and the tip all is connected with top locking device, the flexible actuating mechanism of mast sets up on the base, and be connected with a plurality of winding mechanisms, be used for driving a plurality of winding mechanisms and rotate in step, thereby realize many strap synchronous flexible. The invention adopts the metal belt with bistable property, can be wound on the transmission shaft, can be elongated for a long length according to the requirements of the conditions, and meets the requirements of special conditions.

Description

Telescopic mast device

Technical Field

The invention relates to a telescopic device, in particular to a telescopic mast device.

Background

Telescopic mechanisms are required in many fields and telescopic masts have found some use in commercial and military markets. For example: the electronic components mounted on the top of the telescopic mast include sensors, communication devices, cameras for collecting information or transmitting data. Particularly in the military field, the mast device with smaller volume and longer telescopic length is needed in reconnaissance and exploration. In other fields where small spaces require long devices to reach the desired location, the telescoping device technology is not limited to liquid, gas and continuous rod type mechanisms, but can be combined to form a rigid structure. Most of the existing telescopic mechanisms have the defects of large volume and insufficient telescopic length.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a telescopic mast device to solve the problems of large volume and insufficient telescopic length of the conventional telescopic mechanism.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a scalable mast device, includes base, mast, the flexible actuating mechanism of mast, chuck, winding mechanism and top locking device, wherein is equipped with a plurality of winding mechanisms along circumference on the base, the chuck sets up in a plurality of winding mechanism's top, and relative the base is fixed, the mast is the polyhedral structure who regards as the side respectively by many strap, and the one end of many straps twines respectively a plurality of on the winding mechanism, the other end passes and is straightening state behind the chuck, and the tip all is connected with top locking device, the flexible actuating mechanism of mast set up in on the base, and with a plurality of winding mechanism connects for it is a plurality of to drive winding mechanism rotates in step to realize the synchronous flexible of many straps.

The mast is a trihedral structure with three metal strips serving as side surfaces respectively, and the base is provided with three winding mechanisms for winding or releasing the three metal strips respectively.

The metal belt is of a cambered surface structure.

The metal belt is a bistable 302 stainless steel belt, the thickness is 0.1 mm-0.2 mm, and the width is 40 mm; the bistable 302 stainless steel band is obtained by using a rolled 302 stainless steel band as a raw material and processing the raw material according to the following steps:

(1) tempering treatment:

winding a stainless steel band with a certain length according to the curvature of a rotating shaft of a winding mechanism, putting the stainless steel band into a resistance furnace, preserving heat for 12-15 min at the temperature of 300-350 ℃, and cooling with oil;

(2) stress relief annealing:

heating to 400 ℃ and 480 ℃, and naturally cooling; so as to eliminate the residual stress in the stainless steel band;

(3) mechanical strengthening treatment:

and straightening the stainless steel strip subjected to the stress relief annealing treatment, and then putting the stainless steel strip in the arc-shaped groove along the straightening direction for stamping to generate plastic deformation, so that the section of the deformed metal strip in the width direction is in an arc shape.

The chuck is of an annular structure, and the central hole is of a polygonal structure matched with the mast.

The winding mechanism comprises a rotating shaft and two support frames for supporting the rotating shaft, the lower ends of the two support frames are connected with the base, the upper ends of the two support frames are connected with the chuck, and the rotating shaft is connected with the mast telescopic driving mechanism.

The mast telescopic driving mechanism comprises a motor I, a driving gear and a plurality of driven gear assemblies, wherein the motor I is arranged above the base and positioned inside the mast, the driving gear is arranged below the base and connected with the output end of the motor I, and the driving gear is respectively connected with the rotating shafts in the plurality of winding mechanisms through the plurality of driven gear assemblies arranged along the circumferential direction.

The driven gear assembly comprises a driven gear, a gear shaft, a bevel gear I and a bevel gear II, wherein the gear shaft is rotatably installed on the base, one end of the gear shaft is provided with the driven gear meshed with the driving gear, the other end of the gear shaft is provided with the bevel gear I, and the bevel gear II is arranged at one end of the rotating shaft and meshed with the bevel gear I.

The top locking device is characterized in that a rotating mechanism is arranged at the top of the top locking device and comprises a single-degree-of-freedom rotating table and a motor II, wherein the single-degree-of-freedom rotating table is rotatably arranged at the top of the top locking device, the motor II is arranged in the top locking device, the output end of the motor II is connected with the single-degree-of-freedom rotating table, and communication equipment and detection equipment can be arranged on the single-degree-of-freedom rotating table.

The top end locking device is of a hollow structure, and a plurality of slots used for inserting the metal strips are formed in the lower end face of the top end locking device along the circumferential direction.

The invention has the advantages and positive effects that:

1. the invention adopts a driving source to drive the mast to extend and retract, thereby greatly reducing the volume of the device.

2. The invention adopts the metal belt with bistable property, can be wound on the transmission shaft, can be elongated for a long length according to the requirements of the conditions, and meets the requirements of special conditions.

3. The invention has the advantages of light and compact integral structure, simple installation and good portability.

Drawings

FIG. 1 is an isometric view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a schematic diagram of a metal band strained in accordance with the present invention;

FIG. 5 is a schematic view of the mast drive mechanism of the present invention;

FIG. 6 is a bottom view of FIG. 5;

FIG. 7 is a schematic structural diagram of a single degree of freedom turntable and top locking device of the present invention;

FIG. 8 is a bottom view of FIG. 7;

FIG. 9 is a cross-sectional view of the present invention;

FIG. 10 is a schematic view showing a state in which a metal strip is curled according to the present invention;

FIG. 11 is a schematic view showing a state in which a metal strip is straightened according to the present invention.

In the figure: 1 is the base, 2 is the strap, 3 is the axis of rotation, 4 is the support frame, 5 is the chuck, 6 is ball bearing, 7 is bevel gear I, 8 is motor I, 9 is top locking device, 10 is single degree of freedom revolving stage, 11 is the camera, 12 is driven gear, 13 is motor II, 14 is the gear shaft, 15 is bevel gear II, 16 is the driving gear, 17 is the slot.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-3, the telescopic mast apparatus provided by the present invention comprises a base 1, a mast telescopic driving mechanism, a chuck 5, a winding mechanism and a top end locking device 9, wherein the base 1 is provided with a plurality of winding mechanisms along a circumferential direction, the chuck 5 is disposed above the plurality of winding mechanisms and fixed relative to the base 1, the mast is a polyhedral structure with a plurality of metal strips 2 as side surfaces, one end of each of the plurality of metal strips 2 is wound on the plurality of winding mechanisms, the other end of each of the plurality of metal strips passes through the chuck 5 to be in a straightened state, and the end of each of the plurality of metal strips is connected to the top end locking device 9, the mast telescopic driving mechanism is disposed on the base 1 and connected to the plurality of winding mechanisms for driving the plurality of winding mechanisms to synchronously rotate, so as to achieve.

Further, the metal belt 2 has a cambered structure, i.e., a cross section having an arc shape.

The chuck 5 is of an annular structure, and the central hole is of a polygonal structure matched with the mast.

The winding mechanism comprises a rotating shaft 3 and two support frames 4 used for supporting the rotating shaft 3, the lower ends of the two support frames 4 are connected with the base 1, the upper ends of the two support frames are connected with the chuck 5, and the rotating shaft 3 is connected with the mast telescopic driving mechanism.

As shown in fig. 5-6, the mast telescopic driving mechanism includes a motor i 8, a driving gear 16 and a plurality of driven gear assemblies, wherein the motor i 8 is disposed above the base 1 and located inside the mast, the driving gear 16 is disposed below the base 1 and connected to an output end of the motor i 8, and the driving gear 16 is respectively connected to the rotating shafts 3 of the plurality of winding mechanisms through the plurality of driven gear assemblies disposed along the circumferential direction.

Driven gear assembly includes driven gear 12, gear shaft 14, bevel gear I7 and bevel gear II 15, and wherein gear shaft 14 rotationally installs on base 1, and one end is equipped with driven gear 12 with driving gear 16 meshing, and the other end is equipped with bevel gear I7, and bevel gear II 15 sets up in the one end of axis of rotation 3, and meshes with bevel gear I7.

As shown in fig. 7 and 9, a rotating mechanism is disposed on the top of the top locking device 9, and a communication device and a detection device may be disposed on the rotating mechanism.

The rotating mechanism comprises a single-degree-of-freedom rotating table 10 and a motor II 13, wherein the single-degree-of-freedom rotating table 10 is rotatably arranged at the top of the top end locking device 9, the motor II 13 is arranged in the top end locking device 9, and the output end of the motor II is connected with the single-degree-of-freedom rotating table 10.

As shown in fig. 8, the tip end locking device 9 has a hollow structure, and a plurality of insertion grooves 17 for inserting the metal strip 2 are provided on the lower end surface in the circumferential direction.

In the embodiment of the invention, the mast is a trihedral structure with three metal strips 2 as side surfaces, and three winding mechanisms for winding the three metal strips 2 are arranged on the base 1 corresponding to the three metal strips 2. The central hole of the chuck 5 is a triangular structure. Through the meshing of the three groups of driven gears 12 and a driving gear 16 at the output end of the motor I8, the single motor I8 controls the extension and retraction of the three metal strips 2. The motor II 13 rotates to drive the rotary table 10 to rotate. When the camera 11 or the communication equipment is arranged on the top of the turntable, monitoring, information transmission and the like can be realized in a telescopic state. The locking device 9 locks the three metal strips 2 in the straightened state together, the metal strips 2 with the bistable state have certain rigidity in the straightened stable state, and the three straightened metals 2 keep the rigidity thereof through the locking device 9, so that the stability of the top device is ensured.

When the motor I8 rotates reversely, the driving gear 16 drives the three driven gears 12 engaged with the driving gear to rotate, and the bevel gear I7 and the driven gears 12 are coaxially mounted, so that the bevel gear I7 drives the bevel gear II 15 engaged with the driving gear to rotate, the rotating shaft 3 is driven to rotate, and the three metal belts 2 are wound on the rotating shaft 3. The rotating shaft 3 is matched on the support frame 4 in a geometric mode, and the bevel gear I7 is connected with the base gear train through the gear shaft 14, so that the telescopic performance of the mast driven by a single motor can be realized.

When the motor I8 rotates forwards, the driving gear 16 drives the three driven gears 12 meshed with the driving gear to rotate, and the bevel gear I7 and the driven gears 12 are coaxially arranged, so that the bevel gear I7 drives the bevel gear II 15 meshed with the bevel gear I7 to rotate, the rotating shaft 3 is driven to rotate, and the metal belt 2 wound on the rotating shaft 3 moves upwards.

In the embodiment of the invention, the metal belt 2 is a bistable 302 stainless steel belt, the thickness is 0.1 mm-0.2 mm, and the width is 40 mm; the bistable 302 stainless steel strip is obtained by using a rolled 302 stainless steel strip as a raw material and processing the raw material according to the following steps:

(1) tempering treatment:

(2) stress relief annealing:

(3) mechanical strengthening treatment:

straightening the stainless steel strip subjected to the stress relief annealing treatment in the step (2), and then placing the stainless steel strip in an arc-shaped groove along the straightening direction for stamping to generate plastic deformation, so that the section of the deformed metal strip in the width direction is in an arc shape, as shown in fig. 11.

The metal strip after the stainless steel strip is treated by two processes of heat treatment and mechanical strengthening has bistable property, wherein one is a stable state in winding, as shown in figure 10; the other is a steady state with some stiffness when straightened, as shown in fig. 11.

The metal strip 2 with bistable properties is switched between two stable states by means of a chuck 5 fixed on the chassis. When the metal strip 2 is extended from the base, it is strained from a curled state to a straightened state by stressing it with a chuck 5. The three metal strips 2 are locked together by the top locking device 9. When the metal belt 2 is wound back on the rotating shaft 3, the metal belt 2 passes through the chuck 5, and the straightened internal stress generates stress to be wound on the rotating shaft 3, so that the mast is stretched.

When the motor i 8 is reversed, the rotating shaft 3 winds the metal tape 2 around the shaft. When the metal strip 2 having the bistable characteristic passes through the chuck 5 in a steady state of the straightening, the stress generates strain in the straightened state, and the metal strip is curled and wound around the rotating shaft 3 by the rotation of the rotating shaft 3. The chuck 5 is in a triangular structure, and the chuck 5 can trigger the stable state of the metal strip 2 with the bistable characteristic to generate jumping, so that the extension and retraction of the mast are ensured. By using a thin metal strip 2, the telescopic mast can be extended and retracted according to the working conditions while ensuring the rigidity of the telescopic mast. A motor II 13 is arranged in the top locking device 9 of the telescopic mast, a single-degree-of-freedom rotary table 10 is formed by matching a ball bearing on the top locking device, and a camera 11, communication equipment and a microphone are arranged on the rotary table and can be used as detection equipment under special conditions.

As shown in fig. 4, the power output of the telescopic mast is mainly concentrated on the base 1. The base 1 is provided with support plates 4 which are distributed geometrically, and every two support plates 4 are matched and fixed by a rotating shaft 3 and a rolling bearing 6. The metal belt 2 having the bistable characteristic is wound around the rotating shaft 3, and the metal belt 2 can be released or wound by the forward and reverse rotation of the rotating shaft 3. The metal strip 3 with bistable particularity has two stable states, a curled one and a straightened one, realized by internal orthogonal internal stresses.

The three metal strips 3 are attached together through the chucks 5, locked together by the top locking device 9, and are extended and retracted from the chucks 5. When the metal strip 2 moves linearly upward, the bent metal strip 2 passes through the chuck 5, and the chuck 5 causes stress generation in the bent metal strip 2 to be in a straightened state. When the metal belt 2 is in a straightened state, the metal belt 2 is shaped into a cylinder unit with a certain curvature, the cylinder stress is a stress distribution with rotational symmetry, and the metal belt 2 rotates around the curvature axis of the metal belt 2 to keep the straightened state of the metal belt unchanged. When the rotating shaft 3 revolves around the metal strip 2, the chucks 5 cause the internal stress in the straightened state of the metal strip 2 to generate strain to be wound around the rotating shaft 3. Trilateral metal band 2 forms to have stable state metal structure and locks together through top locking device 9, and it is when the motor I8 reversal, axis of rotation 3 twines metal band 2, and when metal band 2 passed through chuck 5, the metal band 2 internal stress produced the meeting an emergency through chuck 5 and takes place to curl and twine on axis of rotation 3 during the state of flare-out. The base 1 is fixed with the chuck 5, and the chuck 5 realizes the switching of two states of the metal strip 2 with bistable characteristic, realizes the flexible of triangle-shaped mast.

The bistable nature of the metal strip 2 achieves both the wound and the elongated states of the metal. Because of its bistable nature, the stress of the cylinder rotates about a fixed axis when in the straightened state, keeping the shape of the metal strip unchanged. Curling occurs when the surface of the straightened metal strip is subjected to a high strain. The metal strips with bistable characteristics are stretched by a motor, the sudden change of potential energy surface stress is realized by a chuck, the stretched state of the three metal strips is kept locked by a locking device, and a telescopic mast device is integrally formed.

The invention adopts a single motor to drive, and utilizes the bistable property of metal materials to change the rigidity of the metal belt. And communication equipment and inspection equipment are arranged at the top of the triangular mast to realize data transmission. The extension and retraction of the metal band mast with the triangular structure are realized through the driving of the motor, so that the detection or information transmission is convenient in some special environments. The invention adopts the metal belt with bistable property, which can greatly reduce the volume and can perform long-distance expansion under the condition of smaller volume. A portable, movable and reliable telescopic platform is needed.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A telescopic mast device is characterized by comprising a base (1), a mast telescopic driving mechanism, a chuck (5), a winding mechanism and a top end locking device (9), wherein the base (1) is provided with a plurality of winding mechanisms along the circumferential direction, the chuck (5) is arranged above the plurality of winding mechanisms and is fixed relative to the base (1), the mast is a polyhedral structure with a plurality of metal strips (2) respectively serving as side surfaces, one ends of the metal strips (2) are respectively wound on the winding mechanisms, the other ends of the metal strips penetrate through the chuck (5) to be in a straightening state, and the end parts of the metal strips are connected with the top end locking device (9), the mast telescopic driving mechanism is arranged on the base (1) and is connected with the plurality of winding mechanisms, the winding mechanism is used for driving the plurality of winding mechanisms to synchronously rotate, so that the synchronous extension and contraction of the plurality of metal strips (2) are realized;

the metal strip (2) has a bistable character; the chuck (5) is of an annular structure, and a central hole is of a polygonal structure matched with the mast; the top end locking device (9) is of a hollow structure, and a plurality of slots (17) for inserting the metal strips (2) are formed in the lower end face of the top end locking device along the circumferential direction;

the mast is of a trihedral structure with three metal strips (2) as side surfaces, and the base (1) is provided with three winding mechanisms for winding or releasing the three metal strips (2) respectively;

the metal belt (2) is of a cambered surface structure;

the metal belt (2) is a bistable 302 stainless steel belt, the thickness is 0.1 mm-0.2 mm, and the width is 40 mm; the bistable 302 stainless steel band is obtained by using a rolled 302 stainless steel band as a raw material and processing the raw material according to the following steps:

(1) tempering treatment:

(2) stress relief annealing:

(3) mechanical strengthening treatment:

straightening the stainless steel strip subjected to the stress relief annealing treatment in the step (2), and then placing the stainless steel strip in an arc-shaped groove along the straightening direction for stamping to generate plastic deformation, so that the section of the deformed metal strip in the width direction is in an arc shape.

2. A telescopic mast apparatus according to claim 1, wherein the winding mechanism comprises a rotary shaft (3) and two support frames (4) for supporting the rotary shaft (3), the two support frames (4) being connected at their lower ends to the base (1) and at their upper ends to the chuck (5), the rotary shaft (3) being connected to the mast telescopic drive mechanism.

3. The telescopic mast apparatus according to claim 2, wherein the mast telescopic driving mechanism comprises a motor i (8), a driving gear (16) and a plurality of driven gear assemblies, wherein the motor i (8) is disposed above the base (1) and inside the mast, the driving gear (16) is disposed below the base (1) and connected to an output end of the motor i (8), and the driving gear (16) is respectively connected to the rotating shafts (3) of the plurality of winding mechanisms through the plurality of driven gear assemblies disposed along the circumferential direction.

4. A telescopic mast apparatus according to claim 3, wherein the driven gear assembly comprises a driven gear (12), a gear shaft (14), a bevel gear i (7) and a bevel gear ii (15), wherein the gear shaft (14) is rotatably mounted on the base (1) and has one end provided with the driven gear (12) engaged with the driving gear (16) and the other end provided with the bevel gear i (7), and the bevel gear ii (15) is provided at one end of the rotating shaft (3) and engaged with the bevel gear i (7).

5. The telescopic mast apparatus according to claim 1, wherein the top end locking device (9) is provided at a top thereof with a rotating mechanism comprising a single degree of freedom turntable (10) and a motor II (13), wherein the single degree of freedom turntable (10) is rotatably disposed at the top end of the top end locking device (9), the motor II (13) is disposed in the top end locking device (9) and has an output end connected to the single degree of freedom turntable (10), and the single degree of freedom turntable (10) is provided thereon with a communication device and a detection device.