CN206571924U - Service robot turbines into motion is obstructed protector - Google Patents
Service robot turbines into motion is obstructed protector Download PDFInfo
- Publication number
- CN206571924U CN206571924U CN201621408451.XU CN201621408451U CN206571924U CN 206571924 U CN206571924 U CN 206571924U CN 201621408451 U CN201621408451 U CN 201621408451U CN 206571924 U CN206571924 U CN 206571924U
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- worm screw
- spring
- service robot
- connecting shaft
- protector
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Abstract
A kind of service robot turbines into motion is obstructed protector, including on-circular cross-section column connecting shaft structure, the worm screw being sheathed on outside on-circular cross-section column connecting shaft structure, the turbine that can be driven with worm engaging and is connected at least one end of worm screw to provide the spring of elastic restoring force.The worm screw can be axially relative to the movement of on-circular cross-section column connecting shaft structure and have engagement with worm screw and separate two states.The utility model employs worm screw and axial turbine flexible connection mode, solves impact failure of the service robot system inertia force to mechanism.
Description
Technical field
The present invention relates to a kind of protector, especially a kind of service robot turbines into motion with self latch functions
Be obstructed protector.
Background technology
The motion of service robot podomere mechanical structure when by environment and artificial interference, generally using sensor feedback by
Information is hindered, then by the stop motion of system control machine tool mechanism.This method can not solve impact of the system inertia power to mechanism, and
System tears the passive impact failure of mechanism in resting state, artificially.
The content of the invention
In order to overcome drawbacks described above, present invention employs worm screw and axial turbine flexible connection mode, server is solved
Device people's system inertia power tears the passive impact failure of mechanism to the impact failure of mechanism, and system in resting state, artificially.
The technical scheme that is used to solve its technical problem of the present invention is：A kind of service robot turbines into motion is obstructed
Protector, including on-circular cross-section column connecting shaft structure, be sheathed on outside on-circular cross-section column connecting shaft structure worm screw, can be with snail
The turbine of bar engaged transmission and it is connected at least one end of worm screw to provide the spring of elastic restoring force, the worm screw can be
Moved axially with respect to on-circular cross-section column connecting shaft structure and have with worm screw and engage and separate two states.
As a further improvement on the present invention, the spring is two, and the left and right ends of worm screw are connected to respectively.
As a further improvement on the present invention, the two ends of the on-circular cross-section column connecting shaft structure are provided with the limit of retaining spring
Bit architecture.
As a further improvement on the present invention, the spring K (Hooke coefficient) and L (spring deflection) alternative condition
For：If：Turbine and worm material maximum endurance is Fm (Niu Li)；Selected under the conditions of spring deflection L (rice)：K (Niu Li/rice)<
Fm/L；To ensure normally to run selection during turbine and worm maximum weighted F (Niu Li)：L=F/ (P*K), 0<P<1.
The beneficial effects of the invention are as follows：The present invention passes through worm screw and axial turbine flexible connection mode, i.e. worm screw and turbine
Between engagement or separation control the power between master end and passive side to transmit, solve service robot system inertia force
The passive impact failure of mechanism is torn in resting state, artificially to the impact failure of mechanism, and system.
Brief description of the drawings
Fig. 1 is that service robot turbines into motion of the present invention is obstructed the original state figure of protector.
Fig. 2 is that service robot turbines into motion of the present invention is obstructed the released state figure of protector.
Fig. 3 is the sectional view of the line A-A along along Fig. 1.
The figures above is compareed, explanation is supplemented as follows：
1--- turbine 2--- worm screws
3--- spring 4--- position limiting structures
5--- on-circular cross-section column connecting shaft structures
Embodiment
A kind of service robot turbines into motion is obstructed protector, including on-circular cross-section column connecting shaft structure 5, be sheathed on it is non-
Worm screw 2 outside circular section column connecting shaft structure 5, can be with the turbine 1 of the engaged transmission of worm screw 2 and being connected to worm screw 2 at least
One end is to provide the spring 3 of elastic restoring force.The worm screw 2 can be axially relative to on-circular cross-section column connecting shaft structure 5
Move and there is engagement with worm screw 2 and two states are separated.The master end of robot is connected to worm screw 2, the slave end of robot
It is connected to turbine 1.Under original state, it is meshed between worm screw 2 and turbine 1 and the power in master end is transmitted to passive side.Work as quilt
Dynamic side is by external force obstruction and when the power that the axial direction of worm screw 2 is produced is more than K*L, while the axial movement of worm screw 2 makes the deformation of spring 3
Disengaging and engaging between turbine 1, so that the power in master end can not be transmitted into passive side；When passive side is hindered to eliminate by external force
Or when the power that the axial direction of worm screw 2 is produced is less than K*L, in the presence of spring 3, turbine 1 and worm screw 2 recover engagement, main
Recover transmission agency with passive side in dynamic side.The effect of on-circular cross-section column connecting shaft structure 5 is available to the drive of the axial movement of worm screw 2
Power.
The spring 3 is two, and the left and right ends of worm screw 2 are connected to respectively.
The two ends of the on-circular cross-section column connecting shaft structure 5 are provided with the position limiting structure 4 of retaining spring 3.The position limiting structure 4
One end of spring 3 is positioned, so that the worm screw 2 positioned at the other end of spring 3 can compress spring 3 and deform spring 3.
The spring K (Hooke coefficient) and L (spring deflection) alternative condition is：
If：Turbine 1, the material of worm screw 2 maximum endurance are Fm (Niu Li)；
Selected under the conditions of spring deflection L (rice)：K (Niu Li/rice)<Fm/L；
Normally to run selection when ensuring turbine 1,2 maximum weighted F (Niu Li) of worm screw：L=F/ (P*K), 0<P<1.
The present invention passes through worm screw 2 and the axial elasticity connected mode of turbine 1, i.e. engagement or separation between worm screw 2 and turbine 1
To control the power between master end and passive side to transmit, solve impact of the service robot system inertia force to mechanism and damage
It is bad, and system tears the passive impact failure of mechanism in resting state, artificially.
Claims (4)
- The protector 1. a kind of service robot turbines into motion is obstructed, it is characterized in that：Including on-circular cross-section column connecting shaft structure, set Worm screw outside on-circular cross-section column connecting shaft structure, the turbine that can be driven with worm engaging and it is connected to worm screw at least One end is to provide the spring of elastic restoring force, and the worm screw can be axially relative to the movement of on-circular cross-section column connecting shaft structure And there is engagement with worm screw and two states are separated.
- The protector 2. service robot turbines into motion according to claim 1 is obstructed, it is characterized in that：The spring is two It is individual, the left and right ends of worm screw are connected to respectively.
- The protector 3. service robot turbines into motion according to claim 1 is obstructed, it is characterized in that：The on-circular cross-section The two ends of column connecting shaft structure are provided with the position limiting structure of retaining spring.
- The protector 4. service robot turbines into motion according to claim 1 is obstructed, it is characterized in that：The Hu of the spring Gram COEFFICIENT K and spring deflection L alternative condition is：If：Turbine and worm material maximum endurance is Fm；Selected under the conditions of spring deflection L：K<Fm/L；To ensure normally to run selection during turbine and worm maximum weighted F：L=F/ (P*K), 0<P<1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621408451.XU CN206571924U (en) | 2016-12-21 | 2016-12-21 | Service robot turbines into motion is obstructed protector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621408451.XU CN206571924U (en) | 2016-12-21 | 2016-12-21 | Service robot turbines into motion is obstructed protector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206571924U true CN206571924U (en) | 2017-10-20 |
Family
ID=60062714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621408451.XU Active CN206571924U (en) | 2016-12-21 | 2016-12-21 | Service robot turbines into motion is obstructed protector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206571924U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106499789A (en) * | 2016-12-21 | 2017-03-15 | 苏州穿山甲机器人股份有限公司 | Service robot turbines into motion is obstructed preventer |
-
2016
- 2016-12-21 CN CN201621408451.XU patent/CN206571924U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106499789A (en) * | 2016-12-21 | 2017-03-15 | 苏州穿山甲机器人股份有限公司 | Service robot turbines into motion is obstructed preventer |
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