WO2013120397A1 - 旋滚式运送法及其机构 - Google Patents

旋滚式运送法及其机构 Download PDF

Info

Publication number
WO2013120397A1
WO2013120397A1 PCT/CN2013/000161 CN2013000161W WO2013120397A1 WO 2013120397 A1 WO2013120397 A1 WO 2013120397A1 CN 2013000161 W CN2013000161 W CN 2013000161W WO 2013120397 A1 WO2013120397 A1 WO 2013120397A1
Authority
WO
WIPO (PCT)
Prior art keywords
cylinder
reverse
roller
rolling
reverse cylinder
Prior art date
Application number
PCT/CN2013/000161
Other languages
English (en)
French (fr)
Inventor
孙斌
Original Assignee
孙元斌
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 孙元斌 filed Critical 孙元斌
Publication of WO2013120397A1 publication Critical patent/WO2013120397A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/08—Devices, e.g. jacks, adapted for uninterrupted lifting of loads screw operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G33/00—Screw or rotary spiral conveyors
    • B65G33/02—Screw or rotary spiral conveyors for articles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H35/00—Gearings or mechanisms with other special functional features

Definitions

  • the present invention relates to a manufacturing method of a mechanical mechanism, which is a mechanism for forming a driving mechanism by winding and rotating a flexible shaft, in particular, a flexible strip is wound around the aforementioned driving mechanism.
  • the mechanism or device that is formed is formed.
  • the present invention relates to a roll-to-roll method in which a typical model mechanism uses a plurality of flexible shafts to be slanted and wound in a common winding body (referred to as a reverse cylinder or a reverse cylinder) to perform a rotation motion to form a circular ring.
  • a typical model mechanism uses a plurality of flexible shafts to be slanted and wound in a common winding body (referred to as a reverse cylinder or a reverse cylinder) to perform a rotation motion to form a circular ring.
  • the axial array forms a peripheral surface that is inclined with respect to the axis of the circular axis array; each shaft moves the hauled object from its surface by rotation, and carries the consigned, forming two dimensions in the axial direction and the circumferential direction. Handling ability.
  • the mechanism of the rotary rolling method is mainly composed of a frame, a driving mechanism and an actuator.
  • the rack is mainly composed of a frame, a sub-frame (referred to as a sub-frame), a mounting plate, etc.;
  • the actuator is composed of key components such as a base cylinder, a reverse cylinder, and a rolling soft shaft (referred to as a rotary shaft, that is, an elastic shaft) ( Figure 1)
  • the system of the drive mechanism is mainly composed of a power source and a transmission mechanism; the frame carries and installs the actuator and the drive mechanism.
  • the drive mechanism transmits the power of the power source to the actuator for operation, and the actuator is transported by the cargo in the axial and circumferential directions.
  • the so-called rolling refers to the elastic shaft that rotates in a spirally wound state on the reverse cylinder.
  • the so-called rolling motion means that the spiral winding is spirally wound on the reverse cylinder and simultaneously rotates (or rotates and revolves relative to the reverse cylinder).
  • the roller is wound on the reverse cylinder and obliquely intersects with the reverse cylinder.
  • One end of the rolling roller is mounted on the frame, and the other end is mounted on the end plate fixed on the base cylinder, and only the degree of freedom of rotation is allowed;
  • a support ring is arranged in the middle of the rolling, keeping the spacing between the rolls constant and at the same time stable relative to the position of the base.
  • the transport method is specifically divided into two mechanisms: an outer rotary roller and an inner rotary roller, thereby forming two spatial modes of outer surface transport and inner surface transport;
  • the outer roller mechanism is to set the spin roller outside the reverse cylinder, and the inner rotation
  • the rolling mechanism is to provide a spinning roller on the inner wall of the reverse cylinder.
  • the outer surface transport is an outer surface of a spiral which is placed on the spiral surface surrounded by the annular rotating shaft array, and the inner surface is transported by carrying or placing the loaded object on the inner surface thereof for transport. .
  • the structure of the two spatial modes The principle of creation is the same, only the spatial position of the rolling is different.
  • Each of the rolls (Fig. 12) wound around the reverse cylinder is perpendicular to the axial direction of the reverse cylinder and is a deformed elliptical surface.
  • the center of the cross section of each of the rolls is equal to the distance from the center of the counterbore, and the rolling cross section is divided into the same linear velocity and reverse direction with respect to the reverse cylinder by a virtual circular enveloping line formed by the center of each of the rolling sections.
  • the portion of the rolling contact reverse cylinder has the same linear velocity as the reverse cylinder, and the portion away from the reverse cylinder is opposite to the reverse cylinder.
  • the direction of movement of the intermittent surface formed by the portion of each of the rollers away from the reverse cylinder is opposite to the direction of the tube of the linear velocity of the reverse cylinder, forming an angle; and being mounted on the portion of the rolling surface away from the base cylinder
  • the consignment produces motion along the axial and circumferential directions of the reverse cylinder, forming a run in the two-dimensional direction (Fig. 5), which appears as a spiral motion trajectory.
  • each of the rolls forms a ring on the outer wall or the inner wall of the reverse cylinder, and the single roll is a node constituting the ring;
  • each of the rolls forms a linear torsion of the tubular skin surrounding the outer wall or inner wall of the reverse cylinder.
  • the mechanism is flattened in the axial direction, and it can be seen that the operation of the rolling is inclined at an angle with the operation of the reverse cylinder (Fig. 2).
  • Each of the rollers rotates at the same speed, and the conveyed object is transferred from the previous one to the next, forming a continuous transfer and operation along the ring rolling surface.
  • the vocabulary can be checked and operated in a circumferential state to make the circumferential rotation faster, slower or stop.
  • the driving system transmits the power of the power source to the shaft and the transmission of the gear to the roller, and each of the rollers rotates in the same direction (same direction) to form a surrounding surface formed by the reverse cylinder (the inner surface is transported, Surrounded by the reverse cylinder, the carrier is loaded on the surrounding surface to form a transport trajectory that moves in the two-dimensional direction in the axial direction of the reverse cylinder and the circumferential direction.
  • the 13 ⁇ 4 L-mechanical transmission method is various and common knowledge, and will not be described.
  • the source power is transmitted to the reverse cylinder through conduction, so that it generates a relative rotation of the opposite rotation, which can eliminate or weaken the contact of the two to form an eagle rub to eliminate the shadow.
  • the specific construction method is common knowledge and will not be embarrassed.
  • the mechanism of the friction between the spinning roller and the reverse cylinder can be simplified by ensuring the position and shape of the roller relative to the base cylinder; that is, only the power source is used.
  • the power is transmitted to the roller to make it actively rotate, and then the rotary roller ffl frictionally drives the reverse cylinder to passively rotate, which can reduce the adverse effect of friction 3 ⁇ 4; if the reverse cylinder is rotated, the result is also the same (Fig. 3) ; are in accordance with the principles of this institution.
  • auxiliary roller a rolling roller
  • ⁇ can reduce the rolling friction by the reverse cylinder circumferential friction, but also can play Maintain the stability of the gap between the rolls.
  • the soft shaft retractor is placed in the middle of the soft shaft to adjust the length value of the soft shaft.
  • the drive system can be separated from the base cylinder or fixed.
  • the driving force of the flexible shaft can also be driven by the relative rotation between the base cylinder and the reverse cylinder (6>.
  • the running direction of the enveloping surface (ie, the surrounding surface) formed by the rolling is inclined with respect to the reverse cylinder, and the spiral rib is provided on the rolling roller (Fig.
  • the structure is to correct the inclination of the spinning roller and the reverse cylinder by the spiraling direction of the rib, so that the rib surface and the reverse cylinder surface are in parallel relative rolling, so as to eliminate the axial friction between the rolling roller and the reverse cylinder.
  • the reverse tube is set to fl SOKH/jU clothing im i ⁇ head ⁇ ⁇ hundred ⁇ day IW.
  • the spiral rib on the spiral is deformed into a ring shape, and the annular body is made of an elastic material and sleeved on the cylindrical roller (Fig. 8), and the ring is axially biased by the ⁇ contact of the ring
  • the cow when the point rolls and leaves the cylinder, the white body is elastic and returns to the original shape.
  • the roller is again in contact with the reverse cylinder, the same axial deformation occurs, which can reduce the relative reverse of the rolling.
  • Axial displacement of the cylinder This cycle reciprocates to avoid the accumulation of the axial displacement of the roller relative to the reverse cylinder.
  • the J5 is deformed into a spliced circular shape (Fig. 10) which is formed by a circular ring piece along a coaxial array, and is similarly an actuator of the slewing method.
  • the circular ring pieces are arranged at intervals, and at the same time, the original rigid cylinder is replaced by a base cylinder (or a base shaft) which can generate lateral deformation, so that the actuator can be laterally deformed, so that the object to be transported along the curved path Ship out 1 DCiHi.
  • the base cylinder and the reverse cylinder are replaced by a laterally deformable material, and the actuator can generate a lateral direction correspondingly.
  • 4 -* ' Represents the direction of movement: 1 stands for the rack>> 2 subracks: 3 roller mounting brackets; 4 base cylinders, 4.1 of which are base-dependent connecting plates: S reverse cylinder: b-rolling; 7 ⁇ ⁇ » S shows the strip body: 8 i3 ⁇ 4 step gear; y 3 ⁇ 4 «, which is gangrene; ⁇ i3 ⁇ 4 step gear moving gear (referred to as synchronous drive gear); 11 sub-frame driven gear: 12 sub-frame drive gear; 13-turn Rolling gear; 14 tensioning and rolling retractor;
  • 3 ⁇ 4 1 It is a schematic structural view of the basic mechanism of the rotary transfer method, which is a sectional view in the axial direction of the reverse cylinder.
  • the components of the basic mechanism of the transportation method are mainly composed of a frame, a power mechanism portion, and a transport mechanism portion.
  • the figure is connected to the power structure, the transport part, the moving n-structure part and the transport n-structure are all arranged on the truss, and the power mechanism provides the running power to the transport mechanism to form a complete logical transport mechanism.
  • the connector or grip handle controls the actuator.
  • the frame and the power mechanism portion and the transport mechanism portion are each provided with through holes, and the two communicate with each other to form a passage in the form of the inner hole surface for the goods to be transported.
  • Rotary mounting bracket 3 fixedly mounted on the sub-frame 2.
  • the sub-frame drive gear 12 drives the sub-frame driven gear 11 to speak, and the sub- 2 rotates.
  • the transport mechanism is mainly composed of a base cylinder 4, a reverse cylinder 5, an end plate 9, and a rotary roller 6; the reverse cylinder 5 is sleeved on the base cylinder 4, and the two are relatively rotated; the rotary roller 6 is mounted on the end plate 9 and the base cylinder On the connecting plate 4.1, the roller 6 is in contact with the reverse cylinder 5 and spirally wound thereon, and the 3 ⁇ 4 is rotated.
  • the end plate 9 i3 ⁇ 4 is fixed to the base 3 4 i3 ⁇ 4 suspension 3 end.
  • the sub-frame drive gear 12 is mounted on the frame 1, and the 12-drive sub-frame driven gear 11 is operated to drive the sub-frame 2 to rotate, which in turn drives a certain cylinder 4 and the rotary disk 6 of the dry disk to rotate simultaneously:
  • the rotation of the roller 6 arranged in the ring shape is adjusted to adjust the running speed of the load on the circumferential dimension.
  • the power of the roller 6 can be directly connected by the power source.
  • This figure shows that the power of the roller 6 is obtained by the meshing gear 13 engaging the timing gear 8.
  • the synchronous drive gear ⁇ drives the request gear ⁇ to rotate, and the request gear S drives the slewing gear.
  • the slewing gear 13 drives the rotary shaft 6.1 to rotate, and the transmission of the power is transmitted to the rotary joint 6.2 through the transmission of the expander 14 , and the rotary joint 6.2
  • the rotation of the rotary roller 6 is rotated, and the rotation of the six-circle-wound reverse cylinder 5 is rotated, and the rolling of the annular array forms the same surrounding surface to carry the consigned.
  • the retractor 14 provided in the middle of the flexible shaft is used to adjust the degree of tension and deformation of the reeling soft shaft 6 and the reverse reel 5, thereby adjusting the strength of the reel 6 to the reverse cylinder 5.
  • the checked strip-shaped load 7 is also wound by a wrap-around end 7.1 on a cylindrical surface formed by the roller 6 and is spirally formed by a spiral rotation of the spiral 6 to be circulated by the left end of the base cylinder 4 to the right end. Disengage, then disengage 7.2 through the guide!
  • the wheel 15 is folded back and returned to the left end of the frame through the base tube 4 and the ij frame 2 and the ⁇ 3 ⁇ 4 step gear S through hole.
  • 7.i Li 7.2 is connected to form a closed loop. At this time, if the consigned object is mounted on the closed loop, a re-carrying transport can be formed.
  • the same gear 8 meshes with the driving gear of the power source of the power supply, and the elbow gear 8 meshes with the rolling gear 3, and the power is equally distributed to the respective rollers, so that the rollers 6 are operated at the same speed. And form a uniformly running surface.
  • the object to be transported can form a twisting operation at the intersection of the roller and the adjacent roller.
  • Fig. 2 is a schematic view showing the cylindrical surface and the reverse cylinder of the rotating circular array of the actuator in an axial section, showing the relationship between the reverse cylinder, the rolling, and the support.
  • This figure consists of two left and right diagrams, the left diagram is the expansion diagram, and the right diagram is the node diagram.
  • a single roll &, b, c, d, e, f, g, h, m, n, q, p co-wrapped the reverse barrel 5 to form a circular array, each rotation
  • the dotted line in the figure indicates that the figure is bilaterally symmetrical, and the broken line indicates the line formed by the rolling and the reverse tube.
  • the radial dimension is smaller than the diameter of the roller, so that the spiral formed by the support body does not contact the reverse cylinder, avoids friction with the reverse cylinder, and does not expose at the same time, and the '!i is rolled to avoid the operation of the checked object.
  • Figure 3 When the reverse cylinder adopts the active rotation scheme, the circumferential frictional force of the reverse cylinder is used to drive the rotary rotation of the rotary roller, that is, in the case where the rotary roller directly receives power without direct conduction from the power source, it can also form a complete Logical shipping agency.
  • the power source transmits the power to the reverse cylinder drive gear 15, the gear i5 drives the reverse cylinder gear 5.i, the gear 5.i drives the reverse cylinder 5 to rotate, and the reverse cylinder 5 drives the rotary roller 6 to rotate by the circumferential frictional force.
  • the auxiliary roller 6.4 is disposed between the reversing cylinder 5 and the reel 6, the active rotation of the reversing cylinder 5 and the frictional force drive the auxiliary roller 6.4 rotation, and the auxiliary roller 6.4 uses the frictional force to drive the reel 6 to rotate.
  • the auxiliary roller 6.4 mainly serves to control the gap between the respective rollers 6 of the toroidal ring.
  • Figure 5 Schematic diagram of the principle of the rotary shipping of this shipping method.
  • the first one shows that: the rolling and the reverse cylinders respectively obtain the power separately, synchronously rotate in the opposite direction to form the conveying mechanism; and form a 3 ⁇ 4 circle boundary in the dotted line, and each of the rolling rolls forms a joint operation along the direction of the first direction, which is expressed as a winding reverse
  • the i-tube runs on the surface of the j3 ⁇ 4 ⁇ trajectory, and the carrier 18 produces a synthetic trajectory movement in the vertical direction and the horizontal direction, which is expressed as a spiral motion.
  • the linear velocity V0 of the reverse cylinder is perpendicular to the axial direction, and the linear velocity VI of the rolling is fixed with the opposite cylinder; the execution is performed outside the circular dotted line.
  • the converging and carrying of the consigned iS, the linear velocity of the consigned 'i8 operation is a combination of the linear velocity Vh along the axial direction of the reverse cylinder and the linear velocity Vv of the reverse cylinder circumferential direction, denoted as Vh+v.
  • m 6 ⁇ The lever mechanism of her to the profile pavilion. Hehe 4 uses a relative rotation of a cylinder and a hair-to-cylinder A construction method.
  • the mechanism indicates that a fixed gear (or shaft) 4 is provided with a driving gear 24 meshingly driven by a gear 23 provided on the reverse cylinder 5 to drive the reverse cylinder 5 to rotate relatively; the rotation provided on the reverse cylinder 5
  • the rolling gear 13 rotates accordingly, and the gear 13 is sprayed with the gear 20 fixed to the base cylinder, and the gear ⁇ 3
  • the rotation white is: a cylinder 4 ⁇ .
  • the condensate plate 22 is set to condense the drive shaft 25, the bearing i6d constrains the freedom of the shaft 25 except for the rotation; the slewing 6 is wound around the reverse cylinder 5 and extends to the right and connects to the right end.
  • Figure 7 A schematic view of the spiral rib on the reverse barrel to eliminate the axial friction of the roller.
  • Vh represents the horizontal dividing speed of the rib at the contact point
  • Vv represents the vertical dividing speed
  • Vh+v represents the combined speed
  • the rolling is composed of the core 6.6 and the annular rib 6.5, and the spiral reverse cylinder rotates, and the contact point is generated by the axial friction of the reverse cylinder 5 to produce a rightward amount of the shape. 7, when the Weng wins the point to roll away from the back
  • the time of the restoration of the original shape can eliminate the accumulation of the circumstance along the 3 ⁇ 4 direction.
  • Figure 9 Schematic diagram of the deformation of the spin.
  • the sleeve 6.8 rotates relative to the core 6.9 and the reverse cylinder, and can also form a transport mechanism in accordance with the principle of the transport method.
  • 3 ⁇ 4 10 is a schematic diagram of transforming the reverse cylinder into a ring assembly.
  • the reverse cylinder is formed by a plurality of annular plates 5.2 arranged along the axial direction of the base cylinder 4, and a spacing structure is provided between the adjacent two annular segments 5.2.
  • the actuator can produce lateral deformation, which causes the transported stalk track to be entangled.
  • Figure 11 (cross-sectional) schematic view of the actuator formed by the double reverse barrel.
  • the rolling 6 is simultaneously spirally wound around the reverse cylinder 5.4 and the reverse cylinder 5.5, and the upper rolling forms a flat conveying surface.
  • m ⁇ 2 The foot is executed by the axis j ⁇ ij.
  • the fcil structure is the opposite of the i-tube 5 and the cymbal roll 6 are all "rotating."
  • the base cylinder 4 is provided with a mounting plate 21 of the drive shaft 25 of the reverse cylinder 5, and the drive gear 24 meshes with the driven gear 23 fixedly disposed on the inner wall of the reverse cylinder, and rotates in the direction of the fifth direction ⁇ 5.
  • the amount of deformation to the right is 6.7, and the original state is restored when the current deformation point rolls away from the reverse cylinder, and the accumulation of the amount of deformation of the roller along the reverse cylinder axial direction can be eliminated.
  • Figure 9 Schematic diagram of the deformation of the spin.
  • FIG. 10 is a schematic diagram of the transformation of the reverse cylinder into a ring assembly.
  • the reverse cylinder is formed by a plurality of annular plates 5.2 arranged along the axial direction of the base cylinder 4, and a spacing structure 5.3 is arranged between the adjacent two annular segments 5.2 to open the gap between the two annular segments.
  • FIG. 11 (cross-sectional) schematic view of the actuator formed by the double reverse barrel.
  • FIG. 12 Schematic diagram of the axial section of the actuator.
  • the mechanism is a reverse cylinder 5 and the roller 6 is actively rotating.
  • the base cylinder 4 is provided with a mounting plate 21 of the drive shaft 25 of the reverse cylinder 5, and the drive gear 24 is meshed with the driven gear 23 fixedly disposed on the inner wall of the reverse cylinder to drive the reverse cylinder 5 to rotate.
  • the reverse cylinder 5 is coaxial with the base cylinder 4, and the base cylinder 4 is provided with an opening 26 for the drive gear 24 to be exposed to engage the driven gear 23 of the reverse cylinder.
  • the rolling 6 self-driving mechanism obtains the active rotation of the power, and the direction is opposite to that of the reverse cylinder. detailed description:
  • the radial dimension of the mounting frame (round plate) is determined by the number of rolls and the size of the rolling gear; the plate of 3 ⁇ 4 thickness is machined into a ring shape, the outer diameter of which matches the hole diameter of the sub-frame, and a center is provided. hole. (If a single-toothed synchronous gear is used, the space and dimensions occupied by the power input gear should be taken into account when determining the radial dimension of the mounting bracket circular plate.
  • a power source is used, corresponding to the sub-frame power output and synchronous gear power output mechanism, so that both the roller and the sub-frame can obtain power.
  • the reverse cylinder size (considering the rolling length and other factors) is determined and made.
  • the cylindrical strip-shaped body is made of an elastic material which can be laterally deformed, and the end plate mounting position, the connecting plate mounting position, the roller shaft connecting structure, and the like are provided at both ends.
  • the roller is connected to the roller shaft.

Abstract

一种旋滚式运送法及其机械机构，多条旋滚软轴（6）同向倾斜并列盘旋缠绕在共同的反向筒（5）上做自转运动，形成圆环形轴阵托运面；所述机械机构主要由机架装置、驱动机构和执行机构三部分组成，机架装置包括机架（1）、副机架（2）和安装架（3）；执行机构包括基筒（4）、反向筒（5）和旋滚软轴（6）；驱动机构包括动力源和传导机构；机架装置承载和安装驱动机构和执行机构；驱动机构将动力传导给执行机构使其运行，执行机构将被托运物沿轴向和周向运出。旋滚软轴（6）的一端安装在机架（1）上，另一端安装在固定设于基筒（4）的端板（9）上，只允许旋滚软轴（6）具有旋转自由度；旋滚阵中部设有支撑环（w1-4），保持各旋滚软轴（6）之间的间距，并使得各旋滚软轴（6）相对于基筒（4）的位置稳定。本运送法具体分为外旋滚和内旋滚两种类型。

Description

旋滚式运送法及其机构 本发明涉及一种机械机构的制作方法， 是一种以柔性轴的缠绕和自转形成驱动机理的机 构， 尤其是以柔性条状体再缠绕在前述的驱动机构上所形成的机构或裝置。 背景技术：
现实工作中， 常常需要将物件悬挑运出或收回， 且常采用推拉等方法实施， 其结构构造 松散且稳定性及精准度较差： 同时， 若想要使所运物件的运动状态为既有线性运动又有旋转 运动要求的情况， 则无能为力。 发明内容- 本发明涉及的旋滚式运送法， 其典型的模型机构是采用多条软轴倾斜并列缠绕在共同的 缠绕体（简称反转筒或反向筒）上做自转运动， 形成园环形轴阵， 形成相对园环轴阵中轴倾 斜运动的外围表面； 各轴以自转的方式将被拖运物从其表面接力移出， 运送被托运物， 形成 沿轴向和周向两个维度的搬运能力。
本旋滚式运送法的机构， 主要由机架、 驱动机构和执行机构三部分组成。 机架主要由机 架、 副机架（简称副架)、 安装板等组成； 执行机构具体为基筒、 反向筒、 旋滚软轴（简称旋 滚， 即弹性轴）等关键部件组成 （图 1 ) 的系 驱动机构主要是由动力源、传导机构组成 的系统； 机架承载和安装执行机构和驱动机构。 驱动机构将动力源的动力传导给执行机构使 其运行， 执行机构将被托运物沿轴向和周向运出。
所谓旋滚， 概指在反向筒上呈盘旋缠绕状态自转的弹性轴。 所谓旋滚运动， 是指旋滚缠 绕在反向筒上呈螺旋状态又同时自转 （或自转又兼相对反向筒的公转）。
旋滚缠绕在反向筒上并与反向筒形成斜交， 旋滚的一端安装在机架上， 另一端安装在固 定设于基筒上的端板上， 只允许其旋转自由度； 在旋滚中部设有支撑环， 保持各旋滚之间的 间距固定不变和同时相对基筒的位置稳定。
本运送法具体分为外旋滚和内旋滚两种机构， 由此形成外表面运送和内表面运送两种空 间模式； 外旋滚机构是将旋滚设于反向筒之外， 内旋滚机构是将旋滚设于反向筒内壁。 外表 面运送是将被托运物安放或缠绕在环形旋滚轴阵围成的呈螺旋状表面的旋滚的外表面， 内表 面运送则是将被托运物搭载或安放于其内表面上实施运送。 两种空间模式所对应的机构的构 造原理相同， 唯旋滚所处的空间位置相异。
沿反向筒盘旋缠绕的各旋滚（图 12), 其垂直于反向筒轴向的横截面是一个变形的椭圆 面。 各旋滚之横截面的中心到反向筒轴心的距离相等， 通过各旋滚截面中心形成的虚拟圆形 包罗线， 将旋滚截面分成相对于反向筒圼同向线速度和反向线速度的两部分， 旋滚接触反向 筒的部分其线速度与反向筒相同， 远离反向筒的部分相对反向筒相反。 各旋滚远离反向筒的 部分形成的断续式的表面的运动方向与.反向筒的线速度的方向筒相反， 成一定夹角； 搭载 于远离基筒的旋滚表面部分上的被托运物即产生沿反向筒轴向和向周的运动， 形成沿该二维 方向运行（图 5)， 表现为螺旋运动轨迹。
就旋滚式运送机构之执行钒构的横截面上的构件位置而《， 各旋滚共同形成位于反向筒 外壁或内壁的圆环， 单旋滚是组成该圆环的一个节点； 以该机构的轴向剖面而言， 各旋滚形 成包裹反向筒外壁或内壁的筒状表皮的一个线条状的扭转的斜而。将该机构沿轴向剖开展平， 可见旋滚的运转与反向筒的运转呈倾斜夹角的状态（图 2)。 各旋滚连续的同速运转， 将被托 运物由前一个旋滚传递到后一个旋滚， 形成沿环阵旋滚面的连续传递和运行。
基于上述原理， 若给 架施 iiu—'卜反转速度， 可词节被托运 沿周 运行状态， 使其 沿周向的旋转变快、 变缓或停止。
驱动系统将动力源的动力通讨轴、 齿轮的传导传涕给旋滚， 各旋滚产牛同谏 （同向） 旋 转， 形成依托反向筒而成型的包围面（内表面运送， 则是被反向筒包围）， 将被托运物搭载于 该包围面上即可形成沿反向筒轴向和周向的二维方向运动的运送轨迹。 由动力源至旋滚之间
1¾ L械传动方式多种多样， 属公知常识， 不予赘述。
将源动力通过传导方式传递给反向筒， 使之产生相对旋滚的反向旋转， 可消除或减弱二 者接触形成鹰擦， 消除不刹影晌。 具体构诰方式属公知常识， 不予赘沭。
若再旋滚面上增设支撑体等措施， 在保证旋滚相对基筒的位置和形状不变的前提下， 可 利用旋滚与反向筒之间的摩擦因素简化机构；即只将动力源的动力传导给旋滚使其主动旋转， 再由旋滚利 ffl摩擦了驱动反向筒被动旋转， 能实现削减摩擦 ¾不利影响； 若使反向筒丄动 旋转， 结果亦然 （图 3); 均符合本机构的原理。
在此某础卜.， 存 15向筒和旋滚 间增设讨度滚 （简称辅滚) （图 4), ^可起到削减旋 滚受到反向筒周向摩擦力， 同时也能起到保持各旋滚之间间隙稳定的作用。
软轴伸缩器设在软轴中间， 调节旋滚软轴的长度值。 驱动系统即可与基筒分离也可固连 仕一^。
软轴的驱动力除直接的动力接入和反向筒的摩擦驱动之外， 还可利用基筒和反向筒之间 的相对转动来驱动 （ 6〉。 旋滚形成的包罗面 （即包围面）的运行方向相对反向筒呈斜向， 在旋滚上设螺旋肋 （图
7)构造， 用肋的盘旋方向矫正旋滚与反向筒的倾斜， 使肋面与反向筒面呈平行的相对滚动， 以消除旋滚与反向筒之间的轴向摩擦力。 同理， 在旋滚为光面的前提下， 若将反向筒设成带 fl SOKH/jU 衣 im i 扦 头 啄 ^百^ 日 IW。
将旋滚上的盘旋肋变形成环状，利用弹性材料制成环状体套接在园柱状的旋滚上（图 8), 该环 ±7 向笱的栲触点闵轴向摩檫力而产牛变形， 当该点闵滚动而离丌 ¾向筒后， W白身弹 性而回复原状， 等再次与反向筒接触滚动时再产生同样的轴向变形， 可减小旋滚相对反向筒 的轴向位移： 如此循环往复， 可避免旋滚相对反向筒轴向位移的累加。
'还 i¾各种旋滚形式还可 体 ¾求作一定改变， 若将旋滚设成 ώ轴芯和套筒½组合形 式 （图 9), 同时采用反向筒摩擦驱动的驱动方式， 同样可以实现二维运送。
将 J5向筒变形为由^丁圆形环片沿同轴棑列绚成的绚合式圆简 （图 10 ), 同样话闳千旋 滚运送法的执行机构。 在此基础上， 将各圆形环片间隔设置， 同时以可产生横向变形的基筒 (或基轴）替代原来的刚性筒， 则可使执行机构产生横向变形， 使被托运物沿曲线轨迹运出 1 DCiHi。
基于本运送法所述的执行机构及由此产生的变形机构， 若增设一个轴向平行且线速度相 等的反向简（， 使 各旋滚同时盘旋缠绕亦两个 向筒卜. 同样 τ以实现二维运 ¾。 增¾ · 个或多个反向筒， 可改变执行机构旋滚包罗面的外形。
基于上述原理， 将基筒、 反向筒替换成横向可变形材料， 则执行机构相应的能产生横向
^变， 改变被: ¾运¾/1¾运行轨迹。 附图说明：
通用标号：
4 -* ' 代表运动方向： 1代表机架》 2副机架： 3旋滚安装架； 4基筒， 其中 4.1为基倚连接板： S反向 筒： b旋滾； 7 Μη το» 本 S所示的为 条祆体： 8 i¾步齿轮； y ¾«,呈坏祅； ιυ i¾步齿轮 动 齿轮（简称同步驱动齿轮)； 11副架从动齿轮： 12副架驱动齿轮； 13旋滚齿轮； 14张紧旋滚的伸缩器；
15反向筒躯动齿轮： 16轴承及滾动体: 17导向论: 18楗托运
¾ 1： 是旋滚式运送法的基本机构的构造示意图， 是沿反向筒轴向的剖面图。
表示该运送法的基本机构的组成要素， 机构主要由机架和动力机构部分、 运送机构部分 ¾ϋ分组成。 本图屮动力^ I构、 运送^ 部分相连接， 动 n构部分和运送 n构均设在杌架 上， 动力机构向运送机构提供运行动力， 形成完整逻辑的运送机构。
将¾机抝设成驱动机抝、 执秆机抅.分离的形式， 则某筒谇接板 4.1 作话当变形， 作为 连接件或握持把手控制执行机构。
机架和动力机构部分和运送机构部分均设有贯通孔， 两者之间相连通， 成为内孔面运送 形式的通道供被托运物通行。
¾j 机^土安出仉栄 l W fiij^ z 女 栄 J , & ι女 仕仉栄 ι 工， ^百 间可相对旋转： 旋滚安装架 3固定安装在副架 2上。 副架驱动齿轮 12驱动副架从动齿轮 11 膽, 讲而带动副^ 2旋转。
运送机构主要由基筒 4、 反向筒 5、 端板 9、 旋滚 6组成； 反向筒 5套接在基筒 4上， 两 者相对旋转； 旋滚 6安装在端板 9和基筒连接板 4.1上， 同时旋滚 6与反向筒 5接触并盘旋 缠绕其上， ¾者问相¾旋转。 端板 9 i¾定安装在基筒 4 i¾悬 3 端。
副架驱动齿轮 12安装在机架 1上， 12驱动副架从动齿轮 11运转， 带动副架 2旋转， 继 而带动某筒 4和旱盘旋状杰的旋滚 6同紬旋转：通讨驱使呈环形陈状杰排列的旋滚 6的旋转， 实现对其上搭载物沿周向维度运行速度的调整。
旋滚 6的动力可由动力源直接接入，本图表示旋滚 6的动力是由旋滚齿轮 13啮合同步齿 轮 8而获得。 同步驱动齿轮 ίΰ驱动问步齿轮 δ旋转， 问步齿轮 S驱动旋滚齿轮 旋 滚齿轮 13带动旋滚轴 6.1旋转，通过伸缩器 14的传导将动力传递到旋滚接头 6.2上，旋滚接 头 6.2带动旋滚 6旋转， 旋转 6盘旋缠绕反向筒 5自转， 呈环形阵列的旋滚形成同谏同 的 包围面运载被托运物。 软轴中间所设的伸缩器 14， 用以调节旋滚软轴 6缠绕反向筒 5的张紧 程度和变形量， 进而调节旋滚 6缠绕反向筒 5的力度。
同 ¾设¾1力 ¾ύ πυΐ5Κ丄动旋？？， 产生和旋滚 6呈反 旋转， 消除旋滚 ό在周 向的摩擦阻力， 保持旋滚 6的盘旋形态不变； 若使之在旋滚 6的摩擦反力作用下被动地反向 旋转， 也可有效削减旋滚 6在周向的麾檫阻力。
被托运的条状搭载物 7， 由缠入端 7.1缠绕在旋滚 6形成的圆柱面上也形成螺旋体，通过 呈螺旋状的旋滚 6盘旋旋转的驱动由基筒 4的左端流动循环至右端脱开， 然后脱开 7.2经导 ! 轮 15折返并通过基筒 4和 ij架 2及 ί¾步齿轮 S 通孔回输到^ I构左端。 将 7.i莉 7.2 连接形成闭合圈， 此时若在该闭合圈上再搭载被托运物， 则可形成循环的再搭载运送。
同歩齿轮 8与言捺■¾动力源对接的驱动齿 $ 10啮合，同肘齿^ 8又和旋滚齿轮】3啮合， 将动力同等分配给各旋滚， 使各旋滚 6同速运行， 并形成均匀运转的表面。
若改变该均匀运转面中的一条旋滚 6的自转速度， 则被托运物可在该旋滚与相邻旋滚的 交接处形成扭转运行!¾祅态。
图中 6.1旋滚的动力输入端， 属刚性轴； 6.2旋滚穿过基筒连接板或副架上所设的孔 6.3 1 ^动力输入端谇接， 该段也是旋滚由刚柠向-柔袢的讨度段„ 图 2: 是执行机构的旋滚环形阵围成的筒状面和反向筒沿轴向剖开展平观察的示意图， 表述 反向筒、 旋滚、 支撑体之间的关系。 本图由左右两图组成， 左图是展开图， 右图是节点图。
单条旋滚&、 b、 c、 d、 e、 f、 g、 h、 m、 n、 q、 p共同包裹反向筒 5形成环形阵列， 各旋
、 一 、 ' 、 、 - , - '■ ·/■ ·一 、 - ,， - 、 . 一 、
S¾ ^汉 i 同： > i—疋犬 义择^ wiWK丁又问同：） Τ·， 一百 i S —疋 ί 隊； *T< 状支撑体 wl~4上设轴孔供各旋滚穿过， 二者呈一定夹角相交； 环状支撑体 wl-4两端分别固 定千端 i板和某倚连待板卜， 使旋漆保待岡 ^间距， T樘休与旋滚旱 夹角横向轴承旋滚， 同时保证各旋滚相对基筒位置的稳定不变。
图中虚线表示该图左右对称， 折断线表示将旋滚形成的围面和反向筒剖开线。
-ij ¾; T , 衣 仕 JSE¾K 文 ί攀 ΆΰΊ饺) 工， /5E¾?¾M½¾iiW牙 U文俘' ， H ti-i
Figure imgf000007_0001
径向尺寸小于旋滚直径， 使支撑体形成的螺旋体既不接触反向筒， 避免与反向筒摩擦， 同时 也不露, '!i旋滚而， 避免 碍被托运物的运行。
图 3: 是反向筒采用主动旋转方案时， 利用反向筒的周向摩擦力驱动旋滚被动旋转， 即在旋 滚不经动力源直接传导而直接获得动力的情况下， 也能形成完整逻辑的运送机构。
动力源将动力传导至反 i 筒驱动齿轮 15， 齿轮 i5驱动反向筒齿轮 5.i， 齿轮 5.i带动反 向筒 5旋转， 反向筒 5通过周向摩擦力驱动旋滚 6旋转。
« 4： 是在图 3某础 h的改讲， 杲存^向筒和旋滚 阁设辅滚的示意阁。
辅滚 6.4设在反转筒 5和旋滚 6之间， 反转筒 5的主动自转和摩擦力驱动辅滚 6.4旋转， 辅滚 6.4再利用摩擦力驱动旋滚 6旋转。
若反转筒 5和旋滚 6均为主动旋转 ， 辅滚 6.4主要起到控制旋滚环形阵屮各旋滚 6之 间的间隙的作用。
： ^只有旋滚 6为 动旋转时， /5转简 5诵讨 J5转而消除辅滚 6.4的周向麾檫力。
图 5: 是本运送法之旋滚托运的原理示意图。
其一表示： 旋滚和反向筒各自单独获得动力， 同步反向旋转， 形成运送机构； 在虚线形 成 ¾圆 分界 έ 以夕卜， 各旋滚沿 ^一方向形成接 运行， 表现为缠绕反 i 筒运行 j¾ ^旋轨 迹的表面， 被托运物 18产生沿竖直方向和水平方向的合成轨迹运动， 表现为螺旋运动。
其二表示： 只将源动力输入给^向筒或旋滚中的一者， 而另一者的运转可由二者间的麼 擦力来获得驱动动力。
在旋滚和反向筒的接触点上， 反向筒的线速度 V0垂直于轴向， 旋滚的线速度 VI与反向 筒 —定夹角； 执行^ I构以园形虛线之外的凝滚而褡载被托运物 iS， 其托运 ' i8运 行的线速度为沿反向筒轴向的线速度 Vh和反向筒周向的线速度 Vv的合成， 记作 Vh+v。 m 6: ^执杆机构的她向剖面阁。 著禾禾 4用某筒和發向筒 间-的相对转动夹驱 旋滚转动拚 一种构造方式。
该机构表示， 在固定的基筒（或轴） 4上设驱动齿轮 24于设在反向筒 5上的齿轮 23啮合 传动， 带动反向筒 5相对旋转； 设在反向筒 5上的旋滚齿轮 13随之旋转， 齿轮 13与固设在 基筒卜.的齿轮 20喷合， 浞成齿轮 Ί3 |¾被动旋转， ill而带动旋滚轴 ό. ί ¾旋滚 ό 1¾旋转。
旋滚驱动齿轮 13安装在反向筒 5上的安装板 21上， 16a是齿轮轴 6.1a的轴承， 16c是约 柬反向-筒 5与某倚 4 =^自由.庳的轴承， 只允许其旋转白由 ：某筒 4 卜.设安凝板 22安凝驱 动轴 25， 轴承 i6d约束轴 25除旋转以外的自由度； 旋滚 6缠绕反向筒 5向右延伸并连接右 端的接入轴 19上， 形成包罗反向筒 5的旋滚面。 可在该机构的左右两端设推理轴承等构造， 以减小旋滚 ό与执行杌构端部的庠擦。
图 7: 是在反向筒上设盘旋肋以消除其对旋滚轴向摩擦的示意图。
^向筒 5以碰財针旃转， 旃滚 6对应的 -以逆 针施转： ）5向筒 5 h的胁（栲蝕点 >拚运 行方向与旋滚 6的呈垂直， 形成两接触面呈平行滚动状态， 消除了轴向摩擦。
Vh表示接触点上肋的水平分速度， Vv表示竖直分速度， Vh+v表示合成速度。
卜.设盘旋 . 1¾示忘图。
旋滚由轴芯 6.6和环状肋 6.5构成，盘旋反向筒自转，接触点受反向筒 5的轴向摩擦产生 向右的夺形量 .7,在当翁夺形点滚离反 倚时恢#原有状杰，能消除旋港沿 ¾向,向夸形 量的累积。
图 9: 是旋滚的变形示意图。
Figure imgf000008_0001
o.y ^ 同 ο.δ 出回疋 WTO心 o.y rWi m 盘旋方向和形状，套筒 6.8相对轴芯 6.9和反向筒旋转， 同样能形成符合本运送法原理的运送 机构。
¾ 10： 是将反向筒变形成圆环片组合体的示意图。
反向筒由若干圆环片 5.2沿基筒 4轴向排列而成，相邻的两个圆环片 5.2之间设间隔构造
_一 ■ 、 ， 、
I ; T ^†V ri»l隙。
若将基筒 4替换成横向可变形的圆柱体或筒体， 则本执行机构可产生横向变形， 使被托 运物的运秆轨谇^牛滟线夺化。
图 11: 是双反向筒形成的执行机构的 （横截面）示意图。
旋滚 6同时盘旋缠绕反向筒 5.4和反向筒 5.5， 上部旋滚形成平面的运送面。
m Ϊ2: 足执行^构的轴 j 咅 ij而示忘图。 该; fcil构足反 i 筒 5禾 Π旋滚 6均为 "动旋转。
基筒 4内设反向筒 5之驱动轴 25的安装板 21， 驱动齿轮 24与固定设置在反向筒内壁上 的从动齿轮 23啮合传动， 动 /5向箇 5旋转。 向右的变形量 6.7，在当前变形点滚离反向筒时恢复原有状态， 能消除旋滚沿反向筒轴向变形 量的累积。 图 9: 是旋滚的变形示意图。
将前述的各种连体旋滚设成轴芯 6.9和套筒 6.8的组合体， 由固定的轴芯 6.9控制旋滚的 盘旋方向和形状，套筒 6.8相对轴芯 6.9和反向筒旋转， 同样能形成符合本 送法原理的运送 机构。 图 10: 是将反向筒变形成圆环片组合体的示意图。
反向筒由若干圆环片 5.2沿基筒 4轴向排列而成，相邻的两个圆环片 5.2之间设间隔构造 5.3， 使两个圆环片间拉开间隙。
若将基筒 4替换成横向可变形的圆柱体或筒体， 则本执行机构可产生横向变形， 使被托 运物的运行轨迹发生曲线变化。 图 11: 是双反向筒形成的执行机构的（横截面）示意图。
旋滚 6同时盘旋缠绕反向筒 5.4和反向筒 5.5, 上部旋滚形成平面的运送面。 图 12: 是执行机构的轴向剖面示意图。 该机构是反向筒 5和旋滚 6均为主动旋转。
基筒 4内设反向筒 5之驱动轴 25的安装板 21， 驱动齿轮 24与固定设置在反向筒内壁上 的从动齿轮 23啮合传动， 驱动反向筒 5旋转。
反向筒 5与基筒 4同轴， 基筒 4上设开口 26供驱动齿轮 24露出与反向筒的从动齿轮 23 啮合。
旋滚 6自驱动机构获得动力主动旋转， 方向与反向筒相反。 具体实施方式：
以图 1方案为实施例， 忽略伸缩器机构：
一、 驱动机构和机架机构的制作（拟为圆柱形机架机构）
1、 选恰当类型的电机作动力源， 购置轴承、滚珠、 导轮等成品构件； 拟定反向筒外径、 旋滚 径向尺寸。
2、 确定旋滚数量。按预计的反向筒外径和旋滚直径尺寸，算出以旋滚中心为半径的包罗圆的 周长。 以该尺寸除以按旋滚直径和间距的合值， 得出旋滚数量。 3、 拟定旋滚齿轮的模数、 齿顶圆、 分度圆尺寸。
4、 制作旋滚齿轮轴安装架。以旋滚数量和旋滚齿轮的尺寸确定安装架（圆形板）的径向尺寸; 选适 ¾厚度的板材加工成圆环状， 其外径与副架的孔径相吻合， 中心设一中心孔。 （若采 用单面齿的同步齿轮时，确定安装架圆形板的径向尺寸时，需计入动力输入齿轮所占用的 空间和尺度。
5、 选适当筒状材料分别制作（筒状的）机架、 副架， 将副架用轴承安装在机架的筒孔中， 使 两者可相对转动。副架的内孔径与旋滚齿轮轴安装架的外径吻合。副架安装在孔状机架的 孔内， 机架的孔径考虑安装轴承的外径， 使之吻合。
6、 制作同步齿轮。根据旋滚齿轮（含动力输入齿轮）尺寸、 安装轴承内径等因素， 确定同步 齿轮的外径、 内齿齿顶圆、 模数等因素， 制作同步齿轮。
7、 制作同步齿轮安装架。考虑安装同步齿轮的轴承的外径、副架孔径尺寸， 制作圆环状安装 板， 使同步齿轮居于副架孔中心。
8、 制作旋滚齿轮轴安装板 （架）。 参照旋滚数量和动力输入齿轮尺寸、 相邻齿轮间隙、 同步 齿轮外径（筒状内齿齿轮)、 轴承安装尺寸等因素， 确定安装板的径向尺寸， 保证旋滚齿 轮与同步齿轮的有效啮合。
9、 制作旋滚齿轮轴安装孔。按旋滚齿轮（含动力输入齿轮）数量将包罗圆分匀， 标记； 以各 标记点为圆心， 以旋滚齿轮轴所对应的轴承为依据， 制作轴承位。
10、 制作旋滚齿轮。 依据上述条件制作两端悬挑的迕轴旋滚齿轮、 动力输入齿轮； 同时， 在 连轴旋滚齿轮的一个轴端设软轴连接构造。
11、 制作副架旋转齿轮。 具副架外径， 拟定一外齿齿轮安装在副架圆筒上， 作驱动副架旋转 之用。 依据该齿轮尺寸， 驱动副架驱动动力齿轮。 同时， 在机架上设动力齿轮轴的安装位。
11、将安装板安装在副架上， 依序将旋滚齿轮（含动力输入齿轮)、 同步齿轮分别安装到对应 的安装板上； 将副架齿轮安装在副架上， 再将副架安装在机架上。
12、 将副架齿轮齿轮安装在副架上， 将副架驱动齿轮安装在机架上， 使两者啮合。
13、 将动力源安装在机架上。 采用一个动力源， 对应设副架动力输出、 同步齿轮动力输出机 构， 使旋滚和副架均能获得动力。
14、 将动力源的动力连接到同步齿轮的驱动齿轮、 副架驱动齿轮上。
二、 执行机构的制作
1、依据前述拟定的旋滚尺寸、反向筒外径，确定反向筒尺寸（考虑旋滚长度等因素）并制作。
2、 依据反向筒尺寸、 基筒轴承尺寸等， 确定基筒尺寸并制作。
3、制作端板。依据旋滚数量、径向尺寸等因素，确定旋滚轴芯位置；依据该尺寸制作环形板， 以旋滚相对反向筒的倾斜角、 环形板的轴心为中心为依据， 设旋滚安装孔。
4、制作基筒于副架的连接板。按制作端板的方法，以副架筒孔的内径为外径，制作安装板（设 基筒孔于旋滚安装板的中心孔同轴。
5、制作旋滚。选可横向变形的弹性材料制作圆柱状条形体， 两端设端板安装位、连接板安装 位、 旋滚轴连接构造等。
6、 依序安装基筒、 反向筒、 端板和连接板、 旋滚。
三、 机架及驱动机构与执行机构的连接及运行
1、 用连接板将执行机构和驱动机构连接成一体。
2、 旋滚与旋滚轴连接。
3、 将电源连接到电机上， 启动， 作业。

Claims

1、 一种旋滚式运送法及其机械机构， 是一种以弹性轴的盘旋缠绕和自转形成托运面的机构， 其特征在于: 采用多条软轴倾斜并列缠绕在共同的反向筒上做自转运动， 形成园环形轴阵表面运送被托运物； 其机构主 要由机架、 驱动机构和执行机构三部分组成， 机架主要由机架、 副机架、 安装板等组成； 执行机构具体为 基筒、 反向筒、 旋滚软轴等关键部件组成的系统； 驱动机构主要是由动力源、 传导机构组成的系统； 机架 承载和安装执行机构和驱动机构； 驱动机构将动力源的动力传导给执行机构使其运行， 执行机构将被托运 物沿轴向和周向运出； 旋滚缠绕在反向筒上并与反向筒形成斜交， 旋滚的一端安装在机架上， 另一端安装 在固定设于基筒的端板上， 只允许其旋转自由度； 在旋滚阵的中部设有支撑环， 保持各旋滚之间的间距固 定不变和同时相对基筒的位置稳定； 本运送法具体分为外旋滚和内旋滚两种机构， 由此形成外表面运送和 内表面运送两种空间模式； 外旋滚机构是将旋滚设于反向筒之外， 内旋滚机构是将旋滚设于反向筒内壁； 外表面运送是将被托运物安放或缠绕在环形旋滚轴阵围成的呈嫘旋状表面的旋滚的外表面， 内表面运送则 是将被托运物搭载或安放于其内表面上实施运送； 其执行机构的横截面上， 各旋滚共同形成依附于反向筒 外壁或内壁的圆环， 单旋滚是组成该圆环的一个节点； 其执行机构的轴向剖面上， 各旋滚形成包裹反向筒 外壁或内壁的筒状表皮的一个线条状的扭转的斜面， 旋滚的运转与反向筒的运转呈倾斜夹角的状态； 各旋 滚连续的同速运转， 将被托运物由前一个旋滚传递到后一个旋滚， 形成沿环阵旋滚面的连续传递和运行。
2、 如权利要求 1 所述的旋滚式运送法及其机械机构， 其特征在于： 若给副架施加一个反转速度， 可调节 被托运物沿周向的运行状态， 使其沿周向的旋转变快、 变缓或停止。
3、 如权利要求 1 所述的旋滚式运送法及其机械机构， 其特征在于： 在保证旋滚相对基筒的位置和形状不 变的前提下， 先将动力源的动力传导给旋滚使其主动旋转， 再由旋滚利用摩擦了驱动反向筒被动旋转， 也 能实现削减摩擦的不利影响； 若使反向筒主动旋转， 而旋滚被动旋转也能符合本运送法的原理。
4、 如权利要求 I 所述的旋滚式运送法及其机械机构， 其特征在于： 利用基筒和反向筒之间的相对转动来 驱动。
5、 如权利要求 1 所述的旋滚式运送法及其机械机构， 其特征在于： 在旋滚上设螺旋肋构造， 使螺旋肋面 与反向筒面呈平行的相对滚动， 看以消除旋滚与反向筒之间的轴向摩擦力； 同理， 将反向筒设成带有螺旋 肋的表面同样能实现消除两者间轴向摩擦的目的。
6、 如权利要求 1 所述的旋滚式运送法及其机械机构， 其特征在于： 将旋滚上的盘旋肋变形成环状， 利用 弹性材料制成环状体套接在园柱状的旋滚上， 可减小旋滚相对反向筒的轴向位移。
7、 如权利要求 1 所述 的旋滚式运送法及其机械机构， 其特征在于： 若将旋滚设成由轴芯和套筒的组合形式， 同样符合本运送法 原理。
8、 如权利要求 1 所述的旋滚式运送法及其机械机构， 其特征在于： 若增设一个轴向平行且线速度相等的 反向筒， 使一条旋滚同时盘旋缠绕在两个反向筒上， 同样符合本运送法原理。
PCT/CN2013/000161 2012-02-13 2013-02-20 旋滚式运送法及其机构 WO2013120397A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201210038352.7 2012-02-13
CN201210038352 2012-02-13

Publications (1)

Publication Number Publication Date
WO2013120397A1 true WO2013120397A1 (zh) 2013-08-22

Family

ID=48921416

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2013/000161 WO2013120397A1 (zh) 2012-02-13 2013-02-20 旋滚式运送法及其机构

Country Status (2)

Country Link
CN (1) CN103241491A (zh)
WO (1) WO2013120397A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU1778051C (ru) * 1991-01-22 1992-11-30 Минский Филиал Всесоюзного Научно-Исследовательского И Проектно-Конструкторского Института Механизированного И Ручного Строительно-Монтажного Инструмента, Вибраторов И Строительно-Отделочных Машин Спирально-винтовой конвейер
US5351806A (en) * 1992-03-11 1994-10-04 Mitsubishi Cable Industries, Ltd. Flexible screw for conveyors
CN1093335A (zh) * 1992-09-16 1994-10-12 易通-肯威有限公司 物品装卸系统
JPH10305912A (ja) * 1997-05-02 1998-11-17 N M K:Kk 物品の個別供給装置
CN102583187A (zh) * 2011-01-12 2012-07-18 孙长顺 簧条式运送法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU1778051C (ru) * 1991-01-22 1992-11-30 Минский Филиал Всесоюзного Научно-Исследовательского И Проектно-Конструкторского Института Механизированного И Ручного Строительно-Монтажного Инструмента, Вибраторов И Строительно-Отделочных Машин Спирально-винтовой конвейер
US5351806A (en) * 1992-03-11 1994-10-04 Mitsubishi Cable Industries, Ltd. Flexible screw for conveyors
CN1093335A (zh) * 1992-09-16 1994-10-12 易通-肯威有限公司 物品装卸系统
JPH10305912A (ja) * 1997-05-02 1998-11-17 N M K:Kk 物品の個別供給装置
CN102583187A (zh) * 2011-01-12 2012-07-18 孙长顺 簧条式运送法

Also Published As

Publication number Publication date
CN103241491A (zh) 2013-08-14

Similar Documents

Publication Publication Date Title
CN105690378A (zh) 一种紧凑型易扩展的多关节段蛇臂驱动机构
US8181552B2 (en) Driving apparatus and robot having the same
US9669541B2 (en) Robot arm and robot comprising the same
JPS589180B2 (ja) 組ひも機
WO2020238305A1 (zh) 一种管道式智能喷涂机器人及其工作方法
CN105960191A (zh) 牵引平衡调整机构、机械手及机械手系统
CN106903712A (zh) 基于差动绳传动的两自由度共线机械臂关节
CN104071320A (zh) 转动导杆偏心圆盘式摆线推进器机构
CN108177807A (zh) 多方位调节的弯管防腐带料绕包及烘烤机器人
CN106979433A (zh) 一种螺旋推进式管道机器人
WO2013120397A1 (zh) 旋滚式运送法及其机构
US20100095708A1 (en) Equipment and method for manufacturing an optical fiber
JP5415985B2 (ja) 管内移動装置
US9782658B2 (en) Ball pitching device
CN104314968B (zh) 一种笔记本计算机的转轴结构
CN204021236U (zh) 转动导杆偏心圆盘式摆线推进器机构
CN105583851B (zh) 一种利用钢丝传动锥形盘输出式旋转关节
CN205328507U (zh) 电动卷升机构
CN103144691A (zh) 六自由度滚动机构
RU2016105526A (ru) Способ и устройство для управления подачей непрерывного удлиненного элемента в процессе сборки шин для колес транспортного средства
JP6870752B2 (ja) フィラメントワインディング装置
JP6247588B2 (ja) アクチュエーター
CN207748666U (zh) 一种双簧式卷绕设备
CN205851605U (zh) 多轴外周缩进往复弯曲数控矫圆机
CN207989655U (zh) 一种可变轨距钢轮驱动装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13749158

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13749158

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC

122 Ep: pct application non-entry in european phase

Ref document number: 13749158

Country of ref document: EP

Kind code of ref document: A1