CN205889244U - Does screw -nut principle realize hose rigid pipe conversion equipment - Google Patents
Does screw -nut principle realize hose rigid pipe conversion equipment Download PDFInfo
- Publication number
- CN205889244U CN205889244U CN201620785854.XU CN201620785854U CN205889244U CN 205889244 U CN205889244 U CN 205889244U CN 201620785854 U CN201620785854 U CN 201620785854U CN 205889244 U CN205889244 U CN 205889244U
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- CN
- China
- Prior art keywords
- nut
- steel ring
- pipe
- rigid pipe
- flexible rubber
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- Withdrawn - After Issue
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Abstract
The utility model discloses a does screw -nut principle realize hose rigid pipe conversion equipment, including stop collar, motor, flexible rubber tube and steel ring etc, the motor drives nut along the lead screw straight line up -and -down motion on the lead screw, the firm piece monomer of annular that the steel ring was established on flexible rubber tube and partial stop collar by a plurality of movable sleeves in proper order forms, and the steel ring upwards extends to and contacts with the nut, and downwardly extending is to covering whole flexible rubber tube, when the nut was close to gradually and extrudees the steel ring, each annular had just been extrudeed, had been pasted tightly each other between piece monomer, and the clearance constantly reduces, up to each annular just the contact surface between piece monomer laminate completely, flexible rubber tube received the restriction of steel ring this moment, the effect of rigid pipe is played in bending at will, and then change the rigid pipe into. Consequently, through under the extrusion to the steel ring, change flexible hose into action of gravity that the rigid pipe bears the goods, reduced the load of parallelly connected mechanical arm for the arm life -span is longer, uses extensively more, nimble.
Description
Technical field
The utility model is related to the part of mechanical arm, and more particularly, to a kind of feed screw nut's principle is realized flexible pipe-rigid pipe and turned
Changing device.
Background technology
With science and technology, the continuous development of technology particularly in robot field, occurred in that increasing with
Related various technique devices of robot etc., in industrial design, Industry Control, even all serve more and more heavier towards family
The effect wanted.
In industrial robot, what current Technical comparing was ripe is series connection mechanical arm, and emerging parallel mechanical arm is also increasingly
It is subject to people's attention, but whether which kind of mechanical arm works independently, all more or less have some less-than-ideal sides
Face.Some need the mechanical part moving within the specific limits to there is a problem of that rigidity is poor, and it is not rigidity zero at all
Part is as connector, and if the effect of compliant motion can be had, has rigidly connected effect again, and that just can solve
The problem of insufficient rigidity in moving component motion process.
Content of the invention
The purpose of this utility model is to solve the problems, such as insufficient rigidity in existing moving component motion process, providing one
Plant feed screw nut's principle and realize flexible pipe-rigid pipe conversion equipment.
The utility model is achieved through the following technical solutions:
A kind of feed screw nut's principle realizes flexible pipe-rigid pipe conversion equipment, including stop collar 4, motor 1, flexible soft
Property rubber tube 6 and steel ring 7；Described motor 1 is fixed on the upper end of stop collar 4, and the rotating shaft of described motor 1 is stretched in stop collar 4, and
By shaft coupling 2 connection wire rod 3, the nut 5 on screw mandrel 3 is driven to move up and down along screw mandrel 3 straight line；The lower end of described stop collar 4
It is fixedly connected the upper end of flexible rubber pipe 6；
Described steel ring 7 is by multiple annular tablet monomers being movably set in successively on flexible rubber pipe 6 and part stop collar 4
Form, steel ring 7 is extended upwardly to and contacted with nut 5, extend downward the whole flexible rubber pipe 6 of covering, and of end
Annular tablet monomer is fixedly connected with the end of flexible rubber pipe 6；
When nut 5 away from or when not extruding steel ring 7, when flexible rubber pipe 6 is bent by external force, it is synchronous that it is followed by steel ring 7
Bending；When nut 5 moves closer to and extrudes steel ring 7, mutually extrude between each annular tablet monomer, be adjacent to, gap constantly subtracts
Little, until each annular tablet monomer between contact surface fit completely, now flexible rubber pipe 6 limited by steel ring 7 it is impossible to
Arbitrarily bend, and then be changed into rigid pipe, play the effect of rigid pipe.
Stop collar 4 is provided with the stopper slot limiting nut 5 circumferential movement, thus when motor 1 drives screw mandrel 3 rotation, spiral shell
Female 5 axially upper for linear motion along screw mandrel 3.
The upper end of described screw mandrel 3 and lower end are provided with stop, for limiting nut 5 movement travel upwardly or downwardly.
During described motor 1 drives screw mandrel 3 rotating, nut 5 is followed it and is made to advance on screw mandrel 3 or retreat movement.
Described motor 1 is the DC speed-reducing with coding disk.Described steel ring 7 and stop collar 4 and flexible rubber pipe 6
Coordinate for gap cooperation, gap generally 0.1mm～0.2mm.
A kind of flexible pipe-rigid pipe conversion method is as follows:
Under original state, nut 5 away from or do not contact with steel ring 7, although also or with steel ring 7 contacting not applying power
Square；Now flexible rubber pipe 6 is in free bent state；
Motor 1 main story；Motor 1 drives shaft coupling 2 to rotate, and shaft coupling 2 drives screw mandrel 3 to rotate, and meanwhile nut 5 is to steel
Enclose 7 direction linear motions, to apply axial compression moment to steel ring 7, now, in the presence of nut 5 extruding, each annular tablet
Gap between monomer is gradually reduced, is mutually adjacent to, until the contact surface between each annular tablet monomer is fitted completely, now soft
Property rubber tube 6 limited it is impossible to random bend by steel ring 7, and then be changed into rigid pipe, play the effect of rigid pipe, with reality
Existing soft tube is to the conversion of rigid pipe；Now, if motor 1 inverts, nut 5 retreats, and gradually discharges the extruding force to steel ring 7
Square, the gap between each annular tablet monomer is gradually increased, and now the restriction of steel ring 7 broken away from by flexible rubber pipe 6, gradually recovers certainly
By case of bending, it is changed into flexible pipe in turn, plays the effect of soft tube, realize by the conversion of rigid pipe to soft tube.
The utility model, with respect to prior art, has such advantages as and effect:
The utility model motor 1 timing, drives shaft coupling 2 to rotate, and shaft coupling 2 drives screw mandrel 3 to rotate, meanwhile nut
5 to steel ring 7 direction linear motion, to apply axial compression moment to steel ring 7, now, in the presence of nut 5 extruding, each ring
Gap between shape tablet monomer is gradually reduced, is mutually adjacent to, until the contact surface between each annular tablet monomer is fitted completely,
Now flexible rubber pipe 6 is limited by steel ring 7 it is impossible to random bend, and then is changed into rigid pipe, plays the work of rigid pipe
With to realize soft tube to the conversion of rigid pipe；If now motor 1 inverts, nut 5 retreats, and gradually discharges squeezing to steel ring 7
Pressure square, the gap between each annular tablet monomer is gradually increased, and now the restriction of steel ring 7 broken away from by flexible rubber pipe 6, gradually extensive
Multiple free bent state, is changed into flexible pipe in turn, plays the effect of soft tube, realizes by the conversion of rigid pipe to soft tube.
In sum, in the presence of steel ring 7, the utility model is capable of quick turn between flexible bending and rigidity
Change；In parallel mechanical arm field, when parallel mechanical arm crawl goods, platform is to need 360 degree of full range of motion, so
Realize flexibility to follow；But only acted on by goods gravity when goods is carried when mechanical arm grabs, therefore by steel
Under the extruding of circle 7, flexible hose is changed into the Action of Gravity Field that rigid pipe bears goods, decreases the load of parallel mechanical arm,
Make the mechanical arm life-span longer, using more extensively, flexibly.
Brief description
Fig. 1 is that the utility model feed screw nut's principle realizes flexible pipe-rigid pipe conversion equipment schematic diagram.
Fig. 2 is Fig. 1 partial structural diagram one.
Fig. 3 is Fig. 1 partial structural diagram two.
Fig. 4 is Fig. 1 partial structural diagram three.
Specific embodiment
With reference to specific embodiment, the utility model is more specifically described in detail.
Embodiment
As shown in Figures 1 to 4.The utility model discloses a kind of feed screw nut's principle realizes flexible pipe-rigid pipe conversion equipment,
Including stop collar 4, motor 1, flexible flexible rubber pipe 6 and steel ring 7；Described motor 1 is fixed on the upper end of stop collar 4, institute
The rotating shaft stating motor 1 is stretched in stop collar 4, and passes through shaft coupling 2 connection wire rod 3, drives the nut 5 on screw mandrel 3 straight along screw mandrel 3
Line moves up and down；The lower end of described stop collar 4 is fixedly connected the upper end of flexible rubber pipe 6；
Described steel ring 7 is by multiple annular tablet monomers being movably set in successively on flexible rubber pipe 6 and part stop collar 4
Form, steel ring 7 is extended upwardly to and contacted with nut 5, extend downward the whole flexible rubber pipe 6 of covering, and of end
Annular tablet monomer is fixedly connected with the end of flexible rubber pipe 6；
When nut 5 away from or when not extruding steel ring 7, when flexible rubber pipe 6 is bent by external force, it is synchronous that it is followed by steel ring 7
Bending；
When nut 5 moves closer to and extrudes steel ring 7, mutually extrude between each annular tablet monomer, be adjacent to, gap is continuous
Reduce, the contact surface between each annular tablet monomer is fitted completely, and now flexible rubber pipe 6 is limited (example by steel ring 7
As by Qu Bianzhi) it is impossible to random bend, and then it is changed into rigid pipe, play the effect of rigid pipe.
Specifically, when this device is in commercial Application, when it follows machine movement, due to the flexibility work of flexible rubber pipe 6
With being easily deformed following motion, and being enclosed within steel ring 7 on stop collar 4 and flexible rubber pipe 6 external diameter due to tool
Necessarily adjustable gap (now steel ring 7 is not affected by extruding, in the raw) is had to deform it is possible to followed by rubber tube
Motion, similar to the principle of calculus.
Stop collar 4 is provided with the stopper slot limiting nut 5 circumferential movement, thus when motor 1 drives screw mandrel 3 rotation, spiral shell
Female 5 axially upper for linear motion along screw mandrel 3；Also stop collar 4 can be fixed on above other machines in practical application.
The upper end of described screw mandrel 3 and lower end are provided with stop, for limiting nut 5 movement travel upwardly or downwardly.
During described motor 1 drives screw mandrel 3 rotating, nut 5 is followed it and is made to advance on screw mandrel 3 or retreat movement.This practicality
New screw body adopts screw mandrel 3, nut 5 type of belt drive, the wherein helical pitch of screw mandrel 3 and line number can be according to actual requirements
Response speed changed.
Described motor 1 is the DC speed-reducing with coding disk.Described steel ring 7 and stop collar 4 and flexible rubber pipe 6
Coordinate for gap cooperation, gap generally 0.1mm～0.2mm.Steel ring 7 parameter of itself such as thickness, material etc. can be according to realities
Border range of movement situation is specifically chosen.
The utility model flexible pipe-rigid pipe conversion method, can be achieved by the steps of:
Under original state, nut 5 away from or do not contact with steel ring 7, although also or with steel ring 7 contacting not applying power
Square；Now flexible rubber pipe 6 is in free bent state；
Motor 1 main story；Motor 1 drives shaft coupling 2 to rotate, and shaft coupling 2 drives screw mandrel 3 to rotate, and meanwhile nut 5 is to steel
Enclose 7 direction linear motions, to apply axial compression moment to steel ring 7, now, in the presence of nut 5 extruding, each annular tablet
Gap between monomer is gradually reduced, is mutually adjacent to, until the contact surface between each annular tablet monomer is fitted completely, now soft
Property rubber tube 6 limited it is impossible to random bend by steel ring 7, and then be changed into rigid pipe, play the effect of rigid pipe, with reality
Existing soft tube is to the conversion of rigid pipe；Now, if motor 1 inverts, nut 5 retreats, and gradually discharges the extruding force to steel ring 7
Square, the gap between each annular tablet monomer is gradually increased, and now the restriction of steel ring 7 broken away from by flexible rubber pipe 6, gradually recovers certainly
By case of bending, it is changed into flexible pipe in turn, plays the effect of soft tube, realize by the conversion of rigid pipe to soft tube.
As described above, just can preferably realize the utility model.
Embodiment of the present utility model is simultaneously not restricted to the described embodiments, other any without departing from of the present utility model
Spirit Essence and the change made under principle, modification, replacement, combine, simplify, all should be equivalent substitute mode, be included in
Within protection domain of the present utility model.
Claims (7)
1. a kind of feed screw nut's principle realize flexible pipe-rigid pipe conversion equipment it is characterised in that: include stop collar (4), motor
(1), flexible flexible rubber pipe (6) and steel ring (7)；
Described motor (1) is fixed on the upper end of stop collar (4), and the rotating shaft of described motor (1) is stretched in stop collar (4), and passes through
Shaft coupling (2) connection wire rod (3), drives the nut (5) on screw mandrel (3) to move up and down along screw mandrel (3) straight line；Described stop collar
(4) lower end is fixedly connected the upper end of flexible rubber pipe (6)；
Described steel ring (7) is by multiple annular tablet lists being movably set in successively on flexible rubber pipe (6) and part stop collar (4)
Body forms, and steel ring (7) is extended upwardly to and contacted with nut (5), extends downward the whole flexible rubber pipe (6) of covering, and end
The annular tablet monomer of of end is fixedly connected with the end of flexible rubber pipe (6)；
When nut (5) away from or when not extruding steel ring (7), when flexible rubber pipe (6) is bent by external force, it is followed by steel ring (7)
Synchronous bending；
When nut (5) moves closer to and extrudes steel ring (7), mutually extrude between each annular tablet monomer, be adjacent to, gap is continuous
Reduce, the contact surface between each annular tablet monomer is fitted completely, and now flexible rubber pipe (6) is subject to the limit of steel ring (7)
System is it is impossible to random bend, and then is changed into rigid pipe, plays the effect of rigid pipe.
2. according to claim 1 feed screw nut's principle realize flexible pipe-rigid pipe conversion equipment it is characterised in that: stop collar
(4) it is provided with the stopper slot limiting nut (5) circumferential movement, thus when motor (1) drives screw mandrel (3) rotation, nut (5) is only
For linear motion along in screw mandrel (3) axial direction.
3. according to claim 1 feed screw nut's principle realize flexible pipe-rigid pipe conversion equipment it is characterised in that: described silk
The upper end of bar (3) and lower end are provided with stop, for limiting nut (5) movement travel upwardly or downwardly.
4. according to claim 1 feed screw nut's principle realize flexible pipe-rigid pipe conversion equipment it is characterised in that: described electricity
During machine (1) drives screw mandrel (3) rotating, nut (5) is followed it and is advanced in the upper work of screw mandrel (3) or retreat movement.
5. feed screw nut's principle according to any one of Claims 1-4 realizes flexible pipe-rigid pipe conversion equipment, its feature
It is: described motor (1) is the DC speed-reducing with coding disk.
6. according to claim 5 feed screw nut's principle realize flexible pipe-rigid pipe conversion equipment it is characterised in that: described steel
Circle (7) is coordinated for gap with the cooperation of stop collar (4) and flexible rubber pipe (6).
7. according to claim 6 feed screw nut's principle realize flexible pipe-rigid pipe conversion equipment it is characterised in that: between described
Gap is 0.1mm～0.2mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620785854.XU CN205889244U (en) | 2016-07-25 | 2016-07-25 | Does screw -nut principle realize hose rigid pipe conversion equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620785854.XU CN205889244U (en) | 2016-07-25 | 2016-07-25 | Does screw -nut principle realize hose rigid pipe conversion equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205889244U true CN205889244U (en) | 2017-01-18 |
Family
ID=57785114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620785854.XU Withdrawn - After Issue CN205889244U (en) | 2016-07-25 | 2016-07-25 | Does screw -nut principle realize hose rigid pipe conversion equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205889244U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041994A (en) * | 2016-07-25 | 2016-10-26 | 华南理工大学 | Device and method for achieving hose-rigid pipe conversion based on screw-nut principle |
| CN111203913A (en) * | 2020-01-17 | 2020-05-29 | 浙江清华柔性电子技术研究院 | Flexible mechanical arm and robot with same |
-
2016
- 2016-07-25 CN CN201620785854.XU patent/CN205889244U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106041994A (en) * | 2016-07-25 | 2016-10-26 | 华南理工大学 | Device and method for achieving hose-rigid pipe conversion based on screw-nut principle |
| CN106041994B (en) * | 2016-07-25 | 2019-01-18 | 华南理工大学 | A kind of feed screw nut's principle realizes hose-rigid pipe conversion equipment and method |
| CN111203913A (en) * | 2020-01-17 | 2020-05-29 | 浙江清华柔性电子技术研究院 | Flexible mechanical arm and robot with same |
| CN111203913B (en) * | 2020-01-17 | 2022-03-25 | 浙江清华柔性电子技术研究院 | Flexible mechanical arm and robot with same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170118 Effective date of abandoning: 20190118 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20170118 Effective date of abandoning: 20190118 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |