CN109915567B - Multistage synchronous lead screw push rod mechanism - Google Patents
Multistage synchronous lead screw push rod mechanism Download PDFInfo
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- CN109915567B CN109915567B CN201910235785.3A CN201910235785A CN109915567B CN 109915567 B CN109915567 B CN 109915567B CN 201910235785 A CN201910235785 A CN 201910235785A CN 109915567 B CN109915567 B CN 109915567B
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 68
- 230000005540 biological transmission Effects 0.000 claims abstract description 89
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000005096 rolling process Methods 0.000 claims description 13
- 230000008602 contraction Effects 0.000 abstract description 5
- 208000032369 Primary transmission Diseases 0.000 abstract 1
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- 238000006073 displacement reaction Methods 0.000 description 2
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- 230000007613 environmental effect Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
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Abstract
The invention discloses a multistage synchronous lead screw push rod mechanism which comprises a transmission mechanism, a stretching mechanism, a fixing mechanism and a guiding mechanism. The servo motor of the transmission mechanism sequentially passes through the motor synchronous pulley and the ball screw synchronous pulley to drive the primary ball screw of the primary transmission mechanism to rotate, the primary ball screw drives the primary ball screw nut and the primary guide mechanism to move, the other hollow ball screws are sequentially driven to rotate respectively, and the ball screw nut and the guide mechanism corresponding to the primary hollow ball screw are driven to move through the stretching mechanism. The multistage synchronous lead screw push rod mechanism has small size, can realize large-stroke transmission, can realize high-precision expansion and contraction of a stroke which is n times of the length of the mechanism, and is multi-section and simultaneously expansion and contraction. The invention can realize synchronous and same-speed expansion of the multi-stage ball screw, and has the characteristics of high transmission precision, small occupied space, high transmission efficiency, low noise and the like.
Description
Technical Field
The invention belongs to the technical field of mechanical device transmission and the technical field of rolling functional component transmission, and particularly relates to a multistage synchronous lead screw push rod mechanism.
Background
The push rod mechanism is a driving device for converting a certain form of motion into linear reciprocating motion of the push rod, and can be used as an executing machine for various simple or complex process flows so as to realize remote control, centralized control or automatic control. As a relatively universal auxiliary driving device, the push rod mechanism is widely applied to the fields of mechanical transmission, platform lifting, heavy object lifting and the like. The push rod mechanism is in various forms: the driving modes comprise manual, electric, pneumatic, hydraulic and the like, and the push rod modes also comprise cam modes, scissor modes, hydraulic cylinders and the like. The push rod mechanism has the characteristics of reliable performance, sensitive action, stable operation, same push-pull force, good environmental adaptability and the like, and is widely applied to industries such as electric power, machinery, mines, petroleum, chemical industry, lifting, transportation and the like. However, as the social demands increase, so too does the demands of people on push rod mechanisms. Because of the limitations of application occasions and specific use conditions, the push rod mechanism is required to have the characteristics of small size, large stroke, accurate and controllable terminal displacement and movement speed and the like.
Although the electric push rod mechanism with the characteristics of small size, large stroke and the like appears in the market at present, the electric push rod mechanism which has the advantages of small size, large stroke, easy realization of automatic control, accurate and controllable tail end position and speed and the like is lacking, and particularly the electric push rod mechanism which can be applied to the multi-stage electric push rod mechanism with high rigidity, high precision and large stroke in the industries of video shooting equipment, precise cutting machine tools and the like is almost in blank or just started stage.
Disclosure of Invention
The invention aims to provide a transmission mechanism capable of realizing synchronous expansion and contraction of a large-stroke multi-section ball screw under a smaller overall dimension.
The technical solution for realizing the purpose of the invention is as follows: a multistage synchronous lead screw push rod mechanism comprises a transmission mechanism, a stretching mechanism, a fixing mechanism and a guiding mechanism; wherein,,
the transmission mechanism comprises n-level transmission devices which are mutually nested, wherein the first-level transmission device is positioned at the innermost side and sequentially arranged, the nth-level transmission device is positioned at the outermost side, and the n-level transmission devices are concentrically and coaxially arranged;
the stretching mechanism comprises an n-1 level stretching device which sequentially drives the second level transmission device to the nth level transmission device to synchronously move with the first level transmission device by taking the first level transmission device as an initial point; the n-1 level transmission device drives the n level transmission device to synchronously move through the n-1 level stretching device;
the fixing mechanism is a fixing device for fixing the first-stage transmission device;
the guiding mechanism comprises n-level guiding devices, wherein the first-level guiding device is arranged between the first-level transmission device and the fixing mechanism, and an n-level guiding device is arranged between the n-1-level guiding device and the n-level guiding device;
the first-stage transmission device moves, and the second-stage transmission device and the n-1-stage transmission device are respectively driven to synchronously move by the 1-stage stretching device and the n-1-stage stretching device in sequence.
Compared with the prior art, the invention has the remarkable advantages that: 1) The multi-section synchronous lead screw push rod mechanism is utilized, so that large-stroke transmission under smaller external dimensions can be realized, and the stroke can reach n times of the minimum retraction dimension; 2) The transmission motion and the guiding effect can be better realized by utilizing a plurality of groups of guiding mechanisms, and the rigidity is strong enough to meet the requirements of occasions such as machine tools, high-precision transmission control and the like; 3) The main transmission part utilizes an embedded mechanism in the center of the multi-section screw rod, so that the small size under the large-stroke transmission is ensured, and the transmission control with high precision and high repeated positioning precision can be realized; 4) The displacement and the movement speed of the tail end of the rod piece can be accurately controlled by utilizing motor control and different lead of the multi-section lead screw; 5) The advantages of large stroke, accurate and controllable tail end position and the like are realized through the structural designs of motor drive, telescopic rod members and the like, and the application of the electric push rod mechanism in the industries of video shooting equipment, machine tools and the like is greatly expanded.
The invention is described in further detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic cross-sectional view of an overall structure of a two-stage synchronous lead screw push rod mechanism in an embodiment of the invention.
Detailed Description
The invention relates to a multistage synchronous lead screw push rod mechanism which comprises a transmission mechanism, a stretching mechanism, a fixing mechanism and a guiding mechanism, wherein the transmission mechanism is connected with the stretching mechanism; wherein,,
the transmission mechanism comprises n-level transmission devices which are mutually nested, the first-level transmission device is positioned at the innermost side and sequentially arranged, the nth-level transmission device is positioned at the outermost side, and the n-level transmission devices are concentrically and coaxially arranged;
the stretching mechanism comprises an n-1 level stretching device which starts from a first level transmission device and sequentially drives a second level transmission device to an n level transmission device to synchronously move with the first level transmission device; the n-1 level transmission device drives the n level transmission device to synchronously move through the n-1 level stretching device;
the fixing mechanism is a fixing device for fixing the first-stage transmission device;
the guiding mechanism comprises n-level guiding devices, wherein the first-level guiding device is arranged between the first-level transmission device and the fixing mechanism, and an n-level guiding device is arranged between the n-1-level guiding device and the n-level guiding device;
the first-stage transmission device moves, and the second-stage transmission device and the n-1-stage transmission device are respectively driven to synchronously move by the 1-stage stretching device and the n-1-stage stretching device in sequence.
Further exemplary, the stretching device is a pull-cord mechanism; the guiding device is a roller mechanism or a chute mechanism or a rolling linear guide rail pair mechanism.
Further exemplary, the first stage transmission device comprises a servo motor, a motor synchronous pulley arranged on an output shaft of the servo motor, a ball screw synchronous pulley driven by the motor synchronous pulley to move, and a first stage ball screw coaxially arranged and connected with the ball screw synchronous pulley; the other stage transmission devices respectively comprise hollow ball screws of corresponding stages.
Further, a primary ball screw support fixed on the fixed bottom plate is coaxially arranged between the primary ball screw and the ball screw synchronous pulley, and the primary ball screw is arranged on the primary ball screw support.
The ball screw synchronous pulley is connected with the primary ball screw through an expansion sleeve in an exemplary and preferred mode.
The motor synchronous pulley and the ball screw synchronous pulley are in the same horizontal plane, and the motor synchronous pulley drives the ball screw synchronous pulley to move through the synchronous belt.
Further, the ball screw and the tail end of the hollow ball screw are respectively provided with an anti-collision block, and the anti-collision blocks are respectively used for limiting ball nuts corresponding to the ball screw or the hollow ball screw so as to prevent the ball nuts from colliding with locking nuts at the tail end of the ball screw or the hollow ball screw.
Exemplary preferably, the impact block is a polyurethane impact block.
The present invention will be described in further detail with reference to examples.
Examples
Referring to fig. 1, in the embodiment of the present invention, n=2 of a multi-stage synchronous lead screw push rod mechanism, the two-stage synchronous lead screw push rod mechanism specifically includes:
the transmission mechanism comprises a first-stage transmission device and a second-stage transmission device; the first-stage transmission device comprises a servo motor 28, a motor synchronous pulley 30 arranged on an output shaft of the servo motor 28, a ball screw synchronous pulley 21 driven by the motor synchronous pulley 30 to move, and a first-stage ball screw 12 coaxially arranged and connected with the ball screw synchronous pulley 21; wherein, a primary ball screw support 19 fixed on a fixed bottom plate 29 is coaxially arranged between a primary ball screw 12 and a ball screw synchronous pulley 21, and the primary ball screw 12 is arranged on the primary ball screw support 19; the second-stage transmission device comprises a second-stage hollow ball screw 8 sleeved on the periphery of the first-stage ball screw 12 and coaxial with the first-stage ball screw; the periphery of the secondary hollow ball screw 8 is provided with a secondary bottom plate 26, the secondary bottom plate 26 is provided with a secondary lifting column 2 which is parallel to the secondary hollow ball screw 8, and one end, far away from the secondary bottom plate 26, of the secondary lifting column 2 is fixedly connected with a primary output seat 1 which is used for connecting external parts needing to move; a primary bottom plate 16 is arranged below the secondary bottom plate 26, and primary lifting columns 5 positioned at the periphery of the secondary lifting columns 2 are arranged on the primary bottom plate 16;
the fixing mechanism comprises a fixing column 11 which is arranged on the periphery of the primary lifting column 5 and is fixed on a fixing bottom plate 29;
the stretching mechanism comprises an upper pull rope assembly and a lower pull rope assembly; the upper stay cord assembly comprises an upper stay cord support 3, an upper stay cord pulley 4 and an upper stay cord 20, wherein the upper stay cord support 3 is positioned above the fixed bottom plate 29, is positioned between the secondary lifting column 2 and the primary lifting column 5 and is fixed on the secondary lifting column 2, the upper stay cord 20 passes through the upper stay cord pulley 4, one end of the upper stay cord 20 is fixed on the fixed bottom plate 29, and the other end of the upper stay cord 20 is fixed on the secondary bottom plate 26; the lower stay rope assembly comprises a lower stay rope 27 and a lower stay rope 25 which are fixed below the primary bottom plate 16, wherein the lower stay rope 25 passes through the lower stay rope 27, one end of the lower stay rope is fixed on the secondary lifting column 2, and the other end of the lower stay rope is fixed on a stay rope locking seat 24 arranged on the fixed column 11;
the guiding mechanism is a rolling linear guide rail pair mechanism and comprises a first-stage rolling linear guide rail pair mechanism for realizing the relative movement of the first-stage transmission device and the fixing mechanism and a second-stage rolling linear guide rail pair mechanism for realizing the relative movement of the first-stage transmission device and the second-stage transmission device; the primary rolling linear guide rail pair mechanism comprises a primary linear slide rail 18 arranged on the primary lifting column 5, and a plurality of sliding blocks 9 arranged on the primary linear slide rail 18, wherein the sliding blocks are fixed on the fixed column 11; the secondary rolling linear guide rail pair mechanism comprises a secondary linear guide rail 23 arranged on the secondary lifting column 2, and a plurality of sliding blocks 9 arranged on the secondary linear guide rail 23, wherein the sliding blocks are fixed on the primary lifting column 5;
the primary ball nut 14 of the primary ball screw 12 is connected with the primary bottom plate 16 through a bearing 15 so as to realize the motion of the primary ball screw 12 relative to the primary bottom plate 16; the primary ball screw 12 drives the secondary hollow ball screw 8 to move through the primary ball nut 14;
the secondary ball nut 13 of the secondary hollow ball screw 8 is connected with the secondary bottom plate 26 so as to realize the movement of the secondary hollow ball screw 8 relative to the secondary bottom plate 26;
the servo motor 28 drives the primary ball screw 12 to move sequentially through the motor synchronous pulley 30 and the ball screw synchronous pulley 21, and the primary ball screw 12 drives the secondary hollow ball screw 8 to synchronously move through the stretching mechanism.
The first anti-collision block 10 and the second anti-collision block 7 are respectively arranged at the tail ends of the primary ball screw 12 and the secondary hollow ball screw 8 and are respectively used for limiting the primary ball nut 14 and the secondary ball nut 13 so as to prevent the primary ball nut 14 from colliding with the primary lock nut 22 at the tail end of the primary ball screw 12 and the secondary ball nut 13 from colliding with the secondary lock nut 6 at the tail end of the secondary hollow ball screw 8.
In this embodiment, the primary bottom plate 16 and the secondary bottom plate 26 are specifically flanges; the sections of the secondary lifting column 2, the primary lifting column 5 and the fixed column 11 are circular arc-shaped or polygonal.
In this embodiment, the process working process of the two-stage synchronous lead screw push rod mechanism is as follows:
the servo motor 28 rotates positively to drive the motor synchronous pulley 30, the ball screw synchronous pulley 21 and the primary ball screw 12 to rotate positively, the primary ball screw 12 drives the primary ball nut 14 to move upwards, the primary ball nut 14 drives the secondary hollow ball screw 8 to rotate, the primary linear slide rail 18 moves upwards, and meanwhile, the upper pull rope assembly drives the secondary bottom plate 26 (and further drives the secondary linear slide rail 23) and the secondary ball nut 13 to move upwards;
in this embodiment, the return operation process of the two-stage synchronous lead screw push rod mechanism is as follows:
the servo motor 28 is reversed to drive the motor synchronous pulley 30, the ball screw synchronous pulley 21 and the primary ball screw 12 to be reversed, the primary ball screw 12 drives the primary ball nut 14 to move downwards, the primary ball nut 14 drives the secondary hollow ball screw 8 to rotate, the primary linear slide rail 18 moves downwards, and meanwhile, the upper pull rope assembly drives the secondary bottom plate 26 (and further drives the secondary linear slide rail 23) and the secondary ball nut 13 to move downwards.
The multistage synchronous lead screw push rod mechanism has small size, can realize large-stroke transmission, can realize high-precision expansion and contraction of a stroke which is n times of the length of the mechanism, and is multi-section and simultaneously expansion and contraction. The invention can realize synchronous and same-speed expansion of the multi-stage ball screw, and has the characteristics of high transmission precision, small occupied space, high transmission efficiency, low noise and the like.
Claims (8)
1. The multistage synchronous lead screw push rod mechanism is characterized by comprising a transmission mechanism, a stretching mechanism, a fixing mechanism and a guiding mechanism; wherein,,
the transmission mechanism comprises n-level transmission devices which are mutually nested, wherein the first-level transmission device is positioned at the innermost side and sequentially arranged, the nth-level transmission device is positioned at the outermost side, and the n-level transmission devices are concentrically and coaxially arranged;
the stretching mechanism comprises an n-1 level stretching device which sequentially drives the second level transmission device to the nth level transmission device to synchronously move with the first level transmission device by taking the first level transmission device as an initial point; the n-1 level transmission device drives the n level transmission device to synchronously move through the n-1 level stretching device;
the fixing mechanism is a fixing device for fixing the first-stage transmission device;
the guiding mechanism comprises n-level guiding devices, wherein the first-level guiding device is arranged between the first-level transmission device and the fixing mechanism, and an n-level guiding device is arranged between the n-1-level guiding device and the n-level guiding device;
the first-stage transmission device moves, and the second-stage transmission device and the n-1-stage transmission device are respectively driven to synchronously move by the 1-stage stretching device and the n-1-stage stretching device in sequence;
the n=2, the multistage synchronous lead screw push rod mechanism specifically comprises:
the transmission mechanism comprises a first-stage transmission device and a second-stage transmission device; the first-stage transmission device comprises a servo motor (28), a motor synchronous pulley (30) arranged on an output shaft of the servo motor (28), a ball screw synchronous pulley (21) driven by the motor synchronous pulley (30) to move, and a first-stage ball screw (12) coaxially arranged and connected with the ball screw synchronous pulley (21); wherein, a primary ball screw support (19) fixed on a fixed bottom plate (29) is coaxially arranged between a primary ball screw (12) and a ball screw synchronous pulley (21), and the primary ball screw (12) is arranged on the primary ball screw support (19); the second-stage transmission device comprises a second-stage hollow ball screw (8) sleeved on the periphery of the first-stage ball screw (12) and coaxial with the first-stage ball screw; the periphery of the secondary hollow ball screw (8) is provided with a secondary bottom plate (26), the secondary bottom plate (26) is provided with a secondary lifting column (2) parallel to the secondary hollow ball screw (8), and one end, far away from the secondary bottom plate (26), of the secondary lifting column (2) is fixedly connected with a primary output seat (1) which is used for connecting external parts needing to move; a first-stage bottom plate (16) is arranged below the second-stage bottom plate (26), and a first-stage lifting column (5) positioned at the periphery of the second-stage lifting column (2) is arranged on the first-stage bottom plate (16);
the fixing mechanism comprises a fixing column (11) which is arranged at the periphery of the primary lifting column (5) and is fixed on a fixing bottom plate (29);
the stretching mechanism comprises an upper pull rope assembly and a lower pull rope assembly; the upper stay cord assembly comprises an upper stay cord support (3) which is positioned above the fixed bottom plate (29) and between the second-stage lifting column (2) and the first-stage lifting column (5) and is fixed on the second-stage lifting column (2), an upper pull pulley (4) fixedly connected with the upper stay cord support (3) and an upper stay cord (20), wherein the upper stay cord (20) passes through the upper pull pulley (4), one end of the upper stay cord is fixed on the fixed bottom plate (29), and the other end of the upper stay cord is fixed on the second-stage bottom plate (26); the lower stay rope assembly comprises a lower pull pulley (27) and a lower stay rope (25) which are fixed below the primary bottom plate (16), wherein the lower stay rope (25) passes through the lower pull pulley (27), one end of the lower stay rope assembly is fixed on the secondary lifting column (2), and the other end of the lower stay rope assembly is fixed on a stay rope locking seat (24) arranged on the fixed column (11);
the guiding mechanism is a rolling linear guide rail pair mechanism and comprises a first-stage rolling linear guide rail pair mechanism for realizing the relative movement of the first-stage transmission device and the fixing mechanism and a second-stage rolling linear guide rail pair mechanism for realizing the relative movement of the first-stage transmission device and the second-stage transmission device; the primary rolling linear guide rail pair mechanism comprises a primary linear slide rail (18) arranged on a primary lifting column (5), and a plurality of sliding blocks (9) arranged on the primary linear slide rail (18), wherein the sliding blocks are fixed on a fixed column (11); the secondary rolling linear guide rail pair mechanism comprises a secondary linear guide rail (23) arranged on a secondary lifting column (2), and a plurality of sliding blocks (9) arranged on the secondary linear guide rail (23), wherein the sliding blocks are fixed on a primary lifting column (5);
the primary ball nut (14) of the primary ball screw (12) is connected with the primary bottom plate (16) through a bearing (15) so as to realize the motion of the primary ball screw (12) relative to the primary bottom plate (16); the primary ball screw (12) drives the secondary hollow ball screw (8) to move through the primary ball nut (14);
the secondary ball nut (13) of the secondary hollow ball screw (8) is connected with the secondary bottom plate (26) so as to realize the movement of the secondary hollow ball screw (8) relative to the secondary bottom plate (26);
the servo motor (28) drives the primary ball screw (12) to move sequentially through the motor synchronous pulley (30) and the ball screw synchronous pulley (21), and the primary ball screw (12) drives the secondary hollow ball screw (8) to synchronously move through the stretching mechanism.
2. The multi-stage synchronous lead screw push rod mechanism according to claim 1, wherein the stretching device is a pull rope mechanism; the guide device is a roller mechanism or a chute mechanism or a rolling linear guide rail pair mechanism.
3. The multistage synchronous screw rod mechanism according to claim 1, wherein the first stage transmission device comprises a servo motor, a motor synchronous pulley arranged on an output shaft of the servo motor, a ball screw synchronous pulley driven by the motor synchronous pulley to move, and a first stage ball screw coaxially arranged and connected with the ball screw synchronous pulley; the other stage transmission devices respectively comprise hollow ball screws of corresponding stages.
4. The multistage synchronous screw push rod mechanism according to claim 3, wherein a primary ball screw support fixed on the fixed base plate is coaxially provided between the primary ball screw and the ball screw synchronous pulley, and the primary ball screw is provided on the primary ball screw support.
5. The multi-stage synchronous lead screw push rod mechanism according to claim 4, wherein the ball screw synchronous pulley is connected with the primary ball screw through an expansion sleeve; the motor synchronous pulley and the ball screw synchronous pulley are positioned on the same horizontal plane, and the motor synchronous pulley drives the ball screw synchronous pulley to move through the synchronous belt.
6. The multistage synchronous screw rod mechanism according to claim 5, wherein the ball screw and the hollow ball screw are respectively provided with an anti-collision block at the tail ends thereof, and the anti-collision blocks are respectively used for limiting ball nuts corresponding to the ball screw or the hollow ball screw so as to prevent the ball nuts from colliding with locking nuts at the tail ends of the ball screw or the hollow ball screw.
7. The multistage synchronous screw rod mechanism according to claim 1, wherein the ends of the primary ball screw (12) and the secondary hollow ball screw (8) are respectively provided with a first anti-collision block (10) and a second anti-collision block (7) which are respectively used for limiting the primary ball nut (14) and the secondary ball nut (13) so as to prevent the primary ball nut (14) from colliding with the primary lock nut (22) at the end of the primary ball screw (12) and the secondary ball nut (13) from colliding with the secondary lock nut (6) at the end of the secondary hollow ball screw (8).
8. The multistage synchronous lead screw push rod mechanism according to claim 1, wherein the primary bottom plate (16) and the secondary bottom plate (26) are particularly flange plates; the sections of the secondary lifting column (2), the primary lifting column (5) and the fixing column (11) are arc-shaped or polygonal.
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| CN201910235785.3A CN109915567B (en) | 2019-03-27 | 2019-03-27 | Multistage synchronous lead screw push rod mechanism |
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| CN201910235785.3A CN109915567B (en) | 2019-03-27 | 2019-03-27 | Multistage synchronous lead screw push rod mechanism |
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| CN109915567B true CN109915567B (en) | 2023-08-01 |
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| CN110778676B (en) * | 2019-11-01 | 2021-02-09 | 北京航空航天大学 | Multistage synchronous telescopic arm based on lead screw drive |
| CN110893997B (en) * | 2019-12-11 | 2024-04-16 | 烟台凯博机械自动化设备有限公司 | Medical catheter module pushing block transmission mechanism |
| CN111503233B (en) * | 2020-06-01 | 2024-04-26 | 西安华欧精密机械有限责任公司 | Multi-motor synchronous driving high-power four-section telescopic electric cylinder |
| CN112239183B (en) * | 2020-10-15 | 2022-02-11 | 上海蔚建科技有限公司 | Automatic lifting mechanism |
| CN114620635B (en) * | 2020-12-10 | 2023-03-21 | 中国科学院沈阳自动化研究所 | Internal wiring multi-section synchronous vertical lifting slewing system |
| CN112589778B (en) * | 2020-12-23 | 2023-12-26 | 中国科学院沈阳自动化研究所 | Foldable telescopic outer limb mechanical arm with streamline housing |
| CN114017629B (en) * | 2021-10-21 | 2022-06-21 | 西安华欧精密机械有限责任公司 | Lifting mast |
| CN113983318B (en) * | 2021-10-26 | 2023-04-11 | 中国电子科技集团公司第三十八研究所 | Roller type synchronous telescopic device |
| CN114636077B (en) * | 2022-02-16 | 2024-03-29 | 康威通信技术股份有限公司 | Multistage transmission telescopic lifting platform and lifting control method |
| CN114552863A (en) * | 2022-02-18 | 2022-05-27 | 西安方元明鑫精密机电制造有限公司 | Three-level electric cylinder structure with single lead screw rope transmission range increasing function |
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