CN114147765A - Telescopic push rod and robot thereof - Google Patents
Telescopic push rod and robot thereof Download PDFInfo
- Publication number
- CN114147765A CN114147765A CN202111350695.2A CN202111350695A CN114147765A CN 114147765 A CN114147765 A CN 114147765A CN 202111350695 A CN202111350695 A CN 202111350695A CN 114147765 A CN114147765 A CN 114147765A
- Authority
- CN
- China
- Prior art keywords
- sleeve
- telescopic
- push rod
- flexible
- outer sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model relates to a mechanical transmission technical field especially relates to a telescopic push rod, including flexible drive division and flexible push rod body, flexible push rod body includes the lead screw and cup joints the flexible arm festival group in the lead screw outside, flexible arm festival group includes first flexible arm festival and the flexible arm festival of second, first flexible arm festival includes first inner skleeve and first outer sleeve, the flexible arm festival of second includes second inner skleeve and second outer sleeve, second inner skleeve cover is established outside first inner skleeve, first inner skleeve and second inner skleeve threaded connection, inner skleeve and lead screw threaded connection, flexible drive division includes drive motor and drive gear, drive motor passes through drive gear and is connected with the lead screw transmission, the lead screw rotates and drives the inner skleeve rotation, the lead screw is hollow structure, inside has cup jointed protective case, protective case has cup jointed the spring wire in the protective case. The embodiment of the application effectively solves the technical problem that the inner spring wire is knotted or falls out when the telescopic push rod is used, and plays a role in protecting the spring wire.
Description
Technical Field
The application relates to the technical field of mechanical transmission, in particular to a telescopic push rod.
Background
Traditional flexible push rod is provided with the spring wire in inside, stretches out or retracts the in-process repeatedly at flexible push rod, can cause the spring wire to tie a knot or the spring wire falls out from push rod one end, influences life.
Disclosure of Invention
The embodiment of the application provides a telescopic push rod and a robot thereof, and aims to solve the problem that a spring wire is knotted and falls out when the telescopic push rod is used in the related art at least and protect the spring wire.
In order to achieve the above object, the present application provides a telescopic push rod, comprising a telescopic driving part and a telescopic push rod body, the telescopic push rod body comprises a screw rod and a telescopic arm joint group sleeved outside the screw rod, the telescopic arm joint group comprises a first telescopic arm joint and a second telescopic arm joint, the first telescopic arm section comprises a first inner sleeve and a first outer sleeve, the second telescopic arm section comprises a second inner sleeve and a second outer sleeve, the second inner sleeve is sleeved outside the first inner sleeve, the first inner sleeve is in threaded connection with the second inner sleeve, the inner sleeve is in threaded connection with the screw rod, the telescopic driving part comprises a transmission motor and a transmission gear, the transmission motor is in transmission connection with the screw rod through the transmission gear, the lead screw rotates to drive the inner sleeve to rotate, the lead screw is of a hollow structure, a protective sleeve is sleeved inside the lead screw, and a spring wire is sleeved inside the protective sleeve.
In some embodiments, the lower end of the protective sleeve is fixedly provided with a limiting end, the limiting end is provided with a limiting port, and the spring wire is led out from the limiting port.
In some of these embodiments, the restriction port diameter is greater than the spring wire diameter and less than the spring wire outer diameter.
In some embodiments, the limiting port is fixedly connected to the bottom of the second outer sleeve and moves axially with the second outer sleeve.
In some embodiments, the inner sleeve and the outer sleeve are connected through a limiting assembly, so that each set of sleeves is relatively fixed in axial movement and relatively movable in circumferential direction.
In some embodiments, a first guide groove is axially arranged on the outer side of the first outer sleeve, and a first guide strip is arranged on the inner side of the first outer sleeve corresponding to the first guide groove; a second guide groove is axially formed in the outer side of the second outer sleeve, and a second guide strip is arranged on the inner side of the second outer sleeve corresponding to the second guide groove; the first guide strip is in sliding fit with the second guide groove.
In some embodiments, the outer sleeve and the bottom of the inner sleeve are both provided with a stabilizing sleeve.
In some of these embodiments, the sleeve and protective sleeve are made of a carbon fiber material.
In some of these embodiments, the telescopic putter body is provided with at least two sets of telescopic arm sections.
The embodiment also provides a robot with a telescopic push rod, which comprises a robot body and the telescopic push rod, wherein the telescopic push rod comprises a telescopic driving part and a telescopic push rod body, the telescopic push rod body comprises a screw rod and a telescopic arm joint group sleeved outside the screw rod, the telescopic arm joint group comprises a first telescopic arm joint and a second telescopic arm joint, the first telescopic arm joint comprises a first inner sleeve and a first outer sleeve, the second telescopic arm joint comprises a second inner sleeve and a second outer sleeve, the second inner sleeve is sleeved outside the first inner sleeve, the first inner sleeve is in threaded connection with the second inner sleeve, the inner sleeve is in threaded connection with the screw rod, the telescopic driving part comprises a transmission motor and a transmission gear, the transmission motor is in transmission connection with the screw rod through the transmission gear, the screw rod rotates to drive the inner sleeve to rotate, the screw rod is of a hollow structure, the inside is sheathed with a protective sleeve, and the protective sleeve is sheathed with a spring wire.
According to the above, the beneficial effects of the present embodiment compared with the prior art are: the improved spring wire is characterized in that the prior art is improved, the protective sleeve is arranged in the screw rod and used for protecting the spring wire, the spring wire is prevented from being knotted, the limiting end is arranged at one end of the outlet of the spring wire, and the spring wire is prevented from falling out completely.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a block diagram of a conventional walking module implemented in the present application;
FIG. 2 is a schematic structural diagram of a driving mechanism according to an embodiment of the present application;
FIG. 3 is a partially disassembled schematic view of a drive mechanism according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a guiding mechanism according to an embodiment of the present application;
FIG. 5 is a partially disassembled schematic view of a guide mechanism according to an embodiment of the present application;
FIG. 6 is a partial cross-sectional view of a lift module according to an embodiment of the present application;
FIG. 7 is a schematic view of the stop assembly and the telescopic arm section according to the embodiment of the present disclosure;
FIG. 8 is a schematic cross-sectional view of a spacing assembly in accordance with an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a position limiting assembly according to an embodiment of the present application;
FIG. 10 is a bottom plan view of a lift module according to an embodiment of the present application;
FIG. 11 is a cross-sectional view of a lift module according to an embodiment of the present application;
fig. 12 is a schematic overall structure diagram of the embodiment of the present application.
Description of reference numerals: 1, a walking module; 1.1 a base; 1.1.1 guide shaft; 1.1.2 slide rails; 2, lifting the module; 2.1 a telescopic driving part; 2.1.1 driving motor; 2.1.2 driving gear; 3 a hanging part; 3.1 installing holes; 3.1.1 second limit groove; 3.2 limiting screws; 4. a guide mechanism; 4.1 a guide wheel set; 4.1.1 movable guide wheel group; 4.1.2 fixing a guide wheel set; 4.2 a walking wheel set; 4.3 auxiliary wheel set; 4.3.1 mounting pieces; 4.3.1.1 a first limiting groove; 4.3.1.2 limit bump; 5 a drive mechanism; 5.1 a walking gear; 5.2 first limiting wheel; 5.3 a second limiting wheel; 5.4 electric brush head; 6, a telescopic push rod; 6.1 lead screw; 6.1.1 spring wire; 6.1.2 protective sleeves; 6.1.3 limiting ends; 6.1.3.1 limiting the port; 6.2 telescopic arm sections; 6.2.1 a first telescopic arm section; 6.2.1.1 a first outer sleeve; 6.2.1.2 first inner sleeve; 6.2.2 second telescopic arm section; 6.2.2.1 a second outer sleeve; 6.2.2.2 a second inner sleeve; 6.2.3 stabilizing sleeves; 6.2.4 guide grooves; 6.2.5 a guide bar; 7, a limiting component; 7.1 limiting outer sleeve; 7.2 limiting the inner sleeve; 7.2.1 annular flange; 7.3 a limit ring; 8 functional modules.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The application provides a telescopic push rod, including flexible drive division and telescopic push rod body, the telescopic push rod body includes the lead screw and cup joints the flexible arm festival group in the lead screw outside, flexible arm festival group includes first flexible arm festival and the flexible arm festival of second, first flexible arm festival includes first inner skleeve and first outer sleeve, the flexible arm festival of second includes second inner skleeve and second outer sleeve, second inner skleeve cover is established outside first inner skleeve, first inner skleeve and second inner skleeve threaded connection, inner skleeve and lead screw threaded connection, flexible drive division includes drive motor and drive gear, drive motor pass through drive gear with the screw drive is connected, the lead screw rotates and drives the inner skleeve rotation, the lead screw is hollow structure, and inside has cup jointed protective case, and protective case has cup jointed the spring line.
The application also provides a robot with a telescopic push rod, which comprises a robot body and the telescopic push rod, wherein the telescopic push rod comprises a telescopic driving part and a telescopic push rod body, the telescopic push rod body comprises a screw rod and a telescopic arm joint group sleeved outside the screw rod, the telescopic arm joint group comprises a first telescopic arm joint and a second telescopic arm joint, the first telescopic arm joint comprises a first inner sleeve and a first outer sleeve, the second telescopic arm joint comprises a second inner sleeve and a second outer sleeve, the second inner sleeve is sleeved outside the first inner sleeve, the first inner sleeve is in threaded connection with the second inner sleeve, the inner sleeve is in threaded connection with the screw rod, the telescopic driving part comprises a transmission motor and a transmission gear, the transmission motor is in transmission connection with the screw rod through the transmission gear, the screw rod rotates to drive the inner sleeve to rotate, the screw rod is of a hollow structure, the inside is sheathed with a protective sleeve, and the protective sleeve is sheathed with a spring wire.
The embodiment is shown in figures 1-12, a rail hanging robot, which comprises a robot body, wherein a walking module 1 is arranged on the body, a base 1.1 is arranged at the lower end of the walking module 1, a lifting module 2 is connected to the lower end of the base 1.1, and a functional module 8 is arranged at the lower end of the lifting module 2.
Base 1.1 upper end both sides are provided with a set of or multiunit linkage portion 3 respectively, linkage portion 3 sets up to an organic whole or split type structure is connected with base 1.1 through rotatable guiding axle 1.1.1, linkage portion 3 still can be through slide rail 1.1.2 and base 1.1 sliding connection, linkage portion 3 sets up to split type structure this moment, linkage portion 3 of both sides passes through elastic mechanism and connects, provide pulling force or thrust to linkage portion 3 of both sides, also can keep a spacing unchangeable relatively when making linkage portion 3 of both sides receive external force.
The suspension part 3 and the base 1.1 form a suspension area capable of being suspended on the guide rail, the suspension area is used for accommodating the guide rail and the walking module 1, the walking module 1 comprises a driving mechanism 5 and a guiding mechanism 4, and the driving mechanism 5 and the guiding mechanism 4 are matched to complete the walking function of the robot.
Wherein actuating mechanism 5 is provided with running gear, gets electric mechanism and stop gear, gets electric mechanism and running gear electric connection, gets electric mechanism and acquires electric power supply and give running gear, and running gear provides power for the robot, and stop gear plays limiting displacement to running gear and getting electric mechanism, gets electric mechanism and stop gear and can set up in linkage 3 homonymy or offside. Running gear is provided with running gear 5.1 and driving motor, it is provided with brush head 5.4 to get the electric mechanism, stop gear is provided with spacing wheelset.
The suspension part 3 is provided with a guide mechanism 4 and a driving mechanism 5 which are in contact fit with a guide groove on the side part of the guide rail, wherein the traveling wheel set 4.2 is axially arranged perpendicular to the suspension part 3 and is in contact fit with the lower part of the guide groove; the auxiliary wheel set 4.3 is axially vertical to the suspension part 3 and is in contact fit with the upper part of the guide groove; the guide wheel set 4.1 is axially arranged in parallel with the suspension part 3 and is in contact fit with the side part of the guide groove. The guide way still is provided with wiping line and rack along guide rail extending direction, the wiping line gets the electricity with the cooperation of brush head 5.4 contact, rack and walking gear 5.1 meshing, wiping line and rack can set up respectively on guide way roof or diapire or lateral wall, and actuating mechanism 5 uses rack and walking gear 5.1's combination can accurate effectual control hang the rail robot in the drive in-process to the assurance of driving distance to and the phenomenon that the combination that uses walking gear 5.1 and rack can not appear skidding in the drive process.
The electric brush head 5.4 can be one or more electric brush heads 5.4, and the bottom of each electric brush head 5.4 is independently provided with an elastic part, such as a compression spring, so that the electric brush head 5.4 can be in floating contact or in electric contact with a sliding contact line and is electrically connected with a driving motor. The limiting wheel set comprises a first limiting wheel 5.2 and a second limiting wheel 5.3. First spacing round 5.2 sets up in electric brush head 5.4 place suspension portion 3 and with the guide way roll contact, its axial and electric brush head 5.4 direction of stretching out are perpendicular, the distance that first spacing round 5.2 stretches out from suspension portion 3 is less than the distance that electric brush head 5.4 stretches out to when guaranteeing electric brush head 5.4 and wiping line floating contact, electric brush head 5.4 bottom elastomeric element can not lead to the damage by too compression. The second limiting wheel 5.3 is coaxial with the traveling gear 5.1 and is in rolling contact with the guide groove, the diameter of the second limiting wheel 5.3 is larger than the diameter of the root circle of the traveling gear 5.1 and smaller than the diameter of the addendum circle of the traveling gear 5.1, the relative distance between the traveling gear 5.1 and the rack in meshing is restricted, and damage caused by overlarge pressure between the traveling gear 5.1 and the rack is prevented.
Still be provided with mounting hole 3.1 on the portion of hanging 3, activity direction wheelset 4.1.1 and auxiliary wheel group 4.3 all are provided with installed part 4.3.1 for with the mounting hole 3.1 cooperation, installed part 4.3.1 is provided with a blind hole, and the concrete appearance is provided with the opening for the one side of inserting mounting hole 3.1, and its inside is hollow structure, is provided with elastic mechanism in the installed part 4.3.1 blind hole, and the one side that installed part 4.3.1 inserted installation hole 3.1 is the bottom surface, and the one side of exposing from mounting hole 3.1 is the front, and the remaining face is the side, installed part 4.3.1 side is provided with spacing lug 4.3.1.2, and leading wheel or auxiliary wheel setting are on spacing lug 4.3.1.2, and the other sides of installed part 4.3.1 are provided with one or more first spacing recess 4.3.1.1. The mounting hole 3.1 is provided with a second limiting groove 3.1.1 matched with the limiting bump 4.3.1.2 to limit the movement amplitude of the mounting piece 4.3.1 to the mounting hole 3.1; and a limiting screw 3.2 matched with the first limiting groove 4.3.1.1 is arranged around the mounting hole 3.1 and used for limiting the movement amplitude of the mounting piece 4.3.1 to the outside of the mounting hole 3.1.
Lifting module 2 is a telescoping device, specifically can be a telescopic push rod, telescopic push rod includes flexible drive division 2.1 and telescopic push rod body 6, and telescopic push rod body 6 includes lead screw 6.1 and cup joints at the flexible arm festival group 6.2 in the lead screw 6.1 outside, and flexible drive division 2.1 includes driving motor 2.1.1 and drive gear 2.1.2, and driving motor 2.1.1 drives the lead screw 6.1 rotation through drive gear 2.1.2.
The telescopic arm section group 6.2 is at least two groups of telescopic arm sections which at least comprise a first telescopic arm section 6.2.1 and a second telescopic arm section 6.2.2. The first telescopic arm section 6.2.1 comprises a first inner sleeve 6.2.1.2 and a first outer sleeve 6.2.1.1, the second telescopic arm section 6.2.2 comprises a second inner sleeve 6.2.2.2 and a second outer sleeve 6.2.2.1, the inner sleeves are mutually sleeved, the outer sleeves are mutually sleeved, and the outer sleeves are sleeved outside the inner sleeves. An accommodating space for accommodating the second telescopic arm section 6.2.2 is formed in the first telescopic arm section 6.2.1 consisting of the first inner sleeve 6.2.1.2 and the first outer sleeve 6.2.1.1, and the like.
Specifically, the first inner sleeve 6.2.1.2 is sleeved outside the second inner sleeve 6.2.2.2, the second inner sleeve 6.2.2.2 is sleeved outside the third inner sleeve, and so on; or the first inner sleeve 6.2.1.2 is sleeved on the inner side of the second inner sleeve 6.2.2.2, the second inner sleeve 6.2.2.2 is sleeved on the inner side of the third inner sleeve, and the like; the first outer sleeve 6.2.1.1 is sleeved outside the second outer sleeve 6.2.2.1, the second outer sleeve 6.2.2.1 is sleeved outside the third outer sleeve, and the rest is done in the same way; or the first outer sleeve 6.2.1.1 is sleeved at the inner side of the second outer sleeve 6.2.2.1, the second outer sleeve 6.2.2.1 is sleeved at the outer side of the third inner sleeve, and the like.
The telescopic arm section 6.2 is also internally provided with a limiting assembly 7, the limiting assembly 7 comprises a limiting inner sleeve 7.2, a limiting outer sleeve 7.1 and a limiting ring 7.3, the outer wall of the limiting inner sleeve 7.2 is provided with an annular flange 7.2.1, the inner wall of the limiting outer sleeve 7.1 is provided with a containing groove for containing the annular flange, the limiting outer sleeve 7.1 is at least provided with an opening of which one end can contain the annular flange, the limiting inner sleeve 7.2 is sleeved inside the limiting outer sleeve 7.1 through the opening, the annular flange 7.2.1 is limited by the containing groove, so that the limiting inner sleeve 7.2 cannot continuously enter the limiting outer sleeve 7.1, the limiting ring 7.3 is fixedly arranged on the opening of one end, entering the limiting outer sleeve 7.1, of the limiting inner sleeve 7.2, the inner diameter of the limiting ring 7.3 is smaller than the outer diameter of the annular flange 7.2.1, and the limiting ring 7.3 and the containing groove of the limiting outer sleeve 7.1 are matched to limit the annular flange 7.2.1 to limit the limiting ring 7.1. The combined limiting assembly 7 is integrally similar to a bearing structure, and the limiting inner sleeve 7.2 and the limiting outer sleeve 7.1 can rotate circumferentially relative to each other but cannot move axially relative to each other and can only move axially in a coordinated manner.
The inner sleeve and the outer sleeve are connected through a limiting assembly 7, specifically, the outer sleeve is fixedly connected to the outer side of the limiting outer sleeve 7.1, meanwhile, a guide groove 6.2.4 matched with a guide strip 6.2.5 arranged on the inner wall of the outer sleeve is also formed in the outer side of the limiting outer sleeve 7.1, and the part below the annular flange 7.2.1 of the limiting inner sleeve is fixedly connected inside the inner sleeve, so that one end of the limiting inner sleeve 7.2 is fixedly connected with the inner sleeve and is arranged between the outer side of the limiting inner sleeve 7.2 and the inner side of the limiting outer sleeve 7.1, therefore, the inner sleeve and the outer sleeve are relatively positioned in the axial direction and relatively rotate in the circumferential direction, specifically, the inner sleeve and the outer sleeve cooperatively perform telescopic motion, and the inner sleeve performs rotary motion relative to the outer sleeve.
One or more guide grooves 6.2.4 are axially arranged on the outer wall of the outer sleeve, guide strips 6.2.5 are correspondingly arranged on the inner wall of the outer sleeve and at the positions of the guide grooves 6.2.4, and when the outer sleeves are mutually sleeved, the limiting is realized through the matching of the guide grooves 6.2.4 and the guide strips 6.2.5, so that the circumferential movement of the mutually sleeved outer sleeves is relatively fixed. Specifically, a first guide groove is axially arranged at the outer side of the first outer sleeve 6.2.1.1, and a first guide strip is arranged at the inner side of the first outer sleeve 6.2.1.1 corresponding to the first guide groove; a second guide groove is axially formed in the outer side of the second outer sleeve 6.2.2.1, and a second guide strip is arranged on the inner side of the second outer sleeve 6.2.2.1 corresponding to the second guide groove; the first guide strips are accommodated in the second guide grooves and are in sliding fit with each other, so that the circumferential movement between the first outer sleeve 6.2.1.1 and the second outer sleeve 6.2.2.1 is limited, and the first outer sleeve and the second outer sleeve can only move axially, and so on.
The inner sleeve is sleeved outside the screw rod 6.1, an external thread is arranged on the screw rod 6.1, an internal thread is arranged on the inner wall of the inner sleeve, an external thread is arranged on the outer wall of the inner sleeve, the screw rod 6.1 is in threaded connection with the inner sleeve, and the first inner sleeve 6.2.1.2 is in threaded connection with the second inner sleeve 6.2.2.2. Specifically, the outer wall of the first inner sleeve 6.2.1.2 is provided with a first external thread, the inner wall of the first inner sleeve 6.2.1.2 is provided with a first internal thread, the outer wall of the second inner sleeve 6.2.2.2 is provided with a second external thread, the inner wall of the second inner sleeve 6.2.2.2 is provided with a second internal thread, the first external thread is connected with the second internal thread in a matched mode, and the like. When the transmission motor 2.1.1 drives the screw rod 6.1 to rotate through the transmission gear 2.1.2, correspondingly, the screw rod 6.1 can rotate relative to the first inner sleeve 6.2.1.2, the first inner sleeve 6.2.1.2 can move up and down according to different rotation directions due to the arrangement of the threads, when the first inner sleeve 6.2.1.2 moves to reach the limit, the first inner sleeve 6.2.1.2 can be fixed relative to the screw rod 6.1, the screw rod 6.1 drives the first inner sleeve 6.2.1.2 to rotate in a coordinated manner, so that the second inner sleeve 6.2.2.2 sleeved with the first inner sleeve 6.2.1.2 can move, and the rest can be done in the same manner.
Lead screw 6.1 sets up to hollow structure, and inside is provided with spring wire 6.1.1, has cup jointed protective case 6.1.2 in the spring wire 6.1.1 outside and lead screw 6.1 is inboard, and protective case 6.1.2 can protect spring wire 6.1.1, and protective case 6.1.2 can effectively prevent spring wire 6.1.1 to tie a knot when spring wire 6.1.1 is flexible. The lower end of the protective sleeve 6.1.2 is fixedly connected with a limiting end 6.1.3, the limiting end 6.1.3 is provided with a limiting port 6.1.3.1, the diameter of the limiting port 6.1.3.1 is larger than the wire diameter of the spring wire 6.1.1 and smaller than the outer diameter of the spring wire 6.1.1, so that the spring wire 6.1.1 is led out from the limiting port 6.1.3.1, and the spring wire 6.1.1 is prevented from falling out from the limiting end 6.1.3 integrally. The limiting end 6.1.3 is fixedly connected to the bottom of the second outer sleeve 6.2.2.1, specifically, the limiting end 6.1.3 is fixedly connected to the bottom of the outer sleeve of the tail-end telescopic arm section, and the limiting end 6.1.3 moves along with the connected outer sleeve in a coordinated manner and drives the protective sleeve to move together.
In order to ensure that the whole stability of the telescopic device is better and the shaking is not easy to occur in the telescopic process, the bottom parts of each section of outer sleeve and inner sleeve are respectively provided with a stabilizing sleeve 6.2.3, so that the distance between the sleeves which are mutually sleeved is reduced.
The protective sleeve and the sleeve can be made of plastics, and preferably, the protective sleeve and the sleeve can also be made of carbon fiber materials.
2 lower extremes of lifting module can be provided with functional module 8, like response camera, intelligent cloud platform, terminal instrument etc. hang the rail robot accessible and carry on different functional module and accomplish different functions.
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a telescopic push rod, includes flexible drive division and flexible push rod body, flexible push rod body includes the lead screw and cup joints the flexible arm festival group in the lead screw outside, flexible arm festival group includes the flexible arm festival of first flexible arm festival and second, first flexible arm festival includes first inner skleeve and first outer sleeve, the flexible arm festival of second includes the outer sleeve of second inner skleeve and second, second inner skleeve cover is established outside first inner skleeve, first inner skleeve and second inner skleeve threaded connection, inner skleeve and lead screw threaded connection, flexible drive division includes drive motor and drive gear, drive motor pass through drive gear with the lead screw transmission is connected, the lead screw rotates and drives the inner skleeve rotation, its characterized in that: the lead screw is of a hollow structure, a protective sleeve is sleeved inside the lead screw, and a spring wire is sleeved inside the protective sleeve.
2. The telescopic putter of claim 1, wherein: the lower end of the protective sleeve is fixedly provided with a limiting end, the limiting end is provided with a limiting port, and the spring wire is led out from the limiting port.
3. The telescopic putter of claim 2, wherein: the diameter of the limiting port is larger than the diameter of the spring wire and smaller than the outer diameter of the spring wire.
4. The telescopic putter of claim 2, wherein: the limiting port is fixedly connected to the bottom of the second outer sleeve and moves axially along with the second outer sleeve.
5. The telescopic putter of claim 1, wherein: the inner sleeve and the outer sleeve are connected through a limiting assembly, so that each group of sleeves moves axially and relatively fixedly and moves circumferentially and relatively.
6. The telescopic putter of claim 1, wherein: a first guide groove is axially formed in the outer side of the first outer sleeve, and a first guide strip is arranged on the inner side of the first outer sleeve corresponding to the first guide groove; a second guide groove is axially formed in the outer side of the second outer sleeve, and a second guide strip is arranged on the inner side of the second outer sleeve corresponding to the second guide groove; the first guide strip is in sliding fit with the second guide groove.
7. The telescopic putter of claim 1, wherein: and the bottom parts of the outer sleeve and the inner sleeve are provided with stabilizing sleeves.
8. The telescopic putter of claim 2, wherein: the sleeve and the protective sleeve are made of carbon fiber materials.
9. The telescopic putter of claim 1, wherein: the telescopic push rod body is provided with at least two groups of telescopic arm sections.
10. The utility model provides a robot with flexible push rod, includes robot body and flexible push rod, its characterized in that: the telescopic push rod comprises a telescopic driving portion and a telescopic push rod body, the telescopic push rod body comprises a screw rod and a telescopic arm joint group sleeved outside the screw rod, the telescopic arm joint group comprises a first telescopic arm joint and a second telescopic arm joint, the first telescopic arm joint comprises a first inner sleeve and a first outer sleeve, the second telescopic arm joint comprises a second inner sleeve and a second outer sleeve, the second inner sleeve is sleeved outside the first inner sleeve, the first inner sleeve and the second inner sleeve are in threaded connection, the inner sleeve and the screw rod are in threaded connection, the telescopic driving portion comprises a transmission motor and a transmission gear, the transmission motor is connected with the screw rod in a transmission mode, the screw rod rotates to drive the inner sleeve to rotate, the screw rod is of a hollow structure, a protective sleeve is sleeved inside the hollow structure, and a spring wire is sleeved inside the protective sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111350695.2A CN114147765A (en) | 2021-11-15 | 2021-11-15 | Telescopic push rod and robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111350695.2A CN114147765A (en) | 2021-11-15 | 2021-11-15 | Telescopic push rod and robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114147765A true CN114147765A (en) | 2022-03-08 |
Family
ID=80456566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111350695.2A Pending CN114147765A (en) | 2021-11-15 | 2021-11-15 | Telescopic push rod and robot thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114147765A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206802027U (en) * | 2017-06-14 | 2017-12-26 | 亿嘉和科技股份有限公司 | A kind of spring wire stabilizing mechanism |
| CN207273259U (en) * | 2017-10-13 | 2018-04-27 | 天津万世嘉科技有限公司 | A kind of innovative robot movable arm |
| CN209564325U (en) * | 2018-08-04 | 2019-11-01 | 河北万瑞医疗器械有限公司 | Double protection rocker devices |
| CN111409100A (en) * | 2020-04-16 | 2020-07-14 | 广东博智林机器人有限公司 | Telescopic mechanism, mechanical arm and construction robot |
| CN111786506A (en) * | 2020-08-04 | 2020-10-16 | 上海兼六电子科技有限公司 | Often power transmission electric putter |
-
2021
- 2021-11-15 CN CN202111350695.2A patent/CN114147765A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206802027U (en) * | 2017-06-14 | 2017-12-26 | 亿嘉和科技股份有限公司 | A kind of spring wire stabilizing mechanism |
| CN207273259U (en) * | 2017-10-13 | 2018-04-27 | 天津万世嘉科技有限公司 | A kind of innovative robot movable arm |
| CN209564325U (en) * | 2018-08-04 | 2019-11-01 | 河北万瑞医疗器械有限公司 | Double protection rocker devices |
| CN111409100A (en) * | 2020-04-16 | 2020-07-14 | 广东博智林机器人有限公司 | Telescopic mechanism, mechanical arm and construction robot |
| CN111786506A (en) * | 2020-08-04 | 2020-10-16 | 上海兼六电子科技有限公司 | Often power transmission electric putter |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101769971A (en) | Insulator detecting robot | |
| CN108820069A (en) | A kind of self-regulation walking mechanism and the crusing robot with self-regulation walking mechanism | |
| CN108909865A (en) | Unmanned plane climbing level robot | |
| CN114102554A (en) | High-rigidity telescopic guide structure and robot thereof | |
| CN114147686A (en) | Walking rail-hanging guide mechanism and robot thereof | |
| CN108049753A (en) | A kind of cable pulley type glass lifting gear | |
| CN105460239B (en) | A kind of retractor device with pooling feature | |
| CN114147765A (en) | Telescopic push rod and robot thereof | |
| CN114147683A (en) | Telescopic rail hanging robot | |
| CN114147685A (en) | Rail-hanging robot | |
| CN114147684A (en) | Take curve guide rail guiding mechanism of pre-compaction and robot thereof | |
| CN114147681A (en) | High-precision curve guide rail driven electric driving mechanism based on double reference surfaces and robot | |
| CN207847380U (en) | A kind of cable pulley type glass lifting gear | |
| CN114147682A (en) | Using method of rail hanging robot | |
| CN113059544A (en) | High firm type education robot | |
| CN110181553A (en) | Flexible arm component and make building device | |
| CN211306292U (en) | Robot track | |
| CN211335597U (en) | Vehicle power supply device | |
| CN205769003U (en) | Automobile and side door pedal linkage mechanism thereof | |
| CN219408129U (en) | Belt conveyor | |
| CN206385365U (en) | One kind changes bar clothes hanger | |
| CN106625710A (en) | Robot | |
| CN107190485A (en) | A kind of Telescopic clothes hanger | |
| CN209682016U (en) | A kind of telescoping mechanism of Mobile tool | |
| CN206855432U (en) | Spherical Wire walking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |