WO2017080448A1 - 一种位移传输机构和智能机器人 - Google Patents
一种位移传输机构和智能机器人 Download PDFInfo
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- WO2017080448A1 WO2017080448A1 PCT/CN2016/105155 CN2016105155W WO2017080448A1 WO 2017080448 A1 WO2017080448 A1 WO 2017080448A1 CN 2016105155 W CN2016105155 W CN 2016105155W WO 2017080448 A1 WO2017080448 A1 WO 2017080448A1
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- the present invention relates to a transmission structure, and more particularly to a displacement transmission mechanism and an intelligent robot.
- a wire for transmitting an electrical signal to the end load is disposed, and a common method is to dispose the wire for transmitting the electrical signal outside the component, and at the joint of the telescopic component, a sufficiently long end is set to
- the element that satisfies the performing telescopic action gradually straightens without being pulled off during elongation; since the wire disposed outside the telescopic element is in a curled state when the telescopic element does not protrude to the longest state, it is easy to interfere with other surrounding
- the action of the component increases the complexity of the structure, which reduces the space utilization of the mechanism and increases the overall volume of the mechanism.
- embodiments of the present invention are desirably providing a displacement transmission mechanism and an intelligent robot applying the displacement transmission mechanism.
- Embodiments of the present invention provide a displacement transmission mechanism including a lead screw, at least one spiral wire, and a sleeve, at least a portion of the sleeve is sleeved outside the lead screw, and at least one of the sleeves Connected to the lead screw, at least one section of the spiral wire is located in the lead screw, and at least one section of the spiral wire is located inside the sleeve.
- the lead screw is a tubular structure, and an outer surface of the lead screw is provided with a thread from one end, and the area where the thread is located does not cover the entire outer surface of the lead screw;
- the other end of the bar away from the thread is provided with a transmission structure for receiving torque transmitted by the rotary drive to drive the lead screw to rotate about its axis.
- the spiral wire is divided into at least two portions, and at least a linear segment in the lead screw is a straight portion, and is spirally wound outside the lead screw and inside the sleeve.
- One segment is a spiral portion, and the spiral portion of the spiral wire is freely expandable and contractible relative to the sleeve, and the spiral wire is an electrical wire for transmitting current or a cable for transmitting electrical signals or a cable for transmitting optical signals.
- the sleeve is a tubular structure, and the sleeve is sleeved at least outside the lead screw coaxially with a gap, the sleeve has a spiral structure, and the spiral structure is formed by cooperating with the lead screw Spiral pair.
- the spiral structure on the sleeve includes a nut, the nut and the sleeve are integrally fixed by a fastener, and the nut and the lead screw form a spiral pair, and the rotation of the screw passes
- the helical pair is converted into the axial displacement of the core and the sleeve.
- An end of the sleeve adjacent to the helical portion of the helical wire is coupled to a first member in a non-moving manner, and one end of the helical wire is also fixedly coupled to the first member.
- One end of the lead screw near the straight portion of the spiral wire is connected to the rotary driving device and can be rotated under the driving thereof, and the end of the spiral wire away from the spiral portion is fixedly connected to a second member through the lead screw. .
- the spiral portion of the spiral wire has a first state, and when the displacement transmission mechanism is in the first state, the length of the sleeve sleeve axially overlapping outside the lead screw is the longest, the spiral wire The spiral portion is in an initial state, and the length of the spiral portion in the axial direction is the shortest.
- the spiral portion of the spiral wire has a second state, and when the displacement transmission mechanism is in the second state, the length of the sleeve sleeve axially overlapping outside the lead screw is the shortest, the spiral The spiral portion of the wire is in a stretched state, and the length of the spiral portion in the axial direction is the longest.
- the transmission structure provided at one end of the screw is a keyway or a key.
- the spiral structure on the sleeve is located at one end of the sleeve.
- the spiral pair is a thread screw pair or a ball screw pair.
- An embodiment of the present invention further provides an intelligent robot, the smart robot includes a displacement transmission mechanism, and the displacement transmission mechanism includes a lead screw, at least one spiral wire, and a sleeve, and the sleeve has at least a part of the sleeve.
- the spiral wire is a cable that transmits an electrical signal or an optical cable that transmits an optical signal.
- the lead screw is a tubular structure, and an outer surface of the lead screw is provided with a thread from one end, and the area of the thread does not cover the entire outer surface of the lead screw; the lead screw is away from the thread.
- the other end is provided with a transmission structure for receiving a torque transmitted by the rotary driving device for driving the screw to rotate about its axis, the spiral wire is divided into at least two parts, at least in a straight line in the lead screw a section of the straight portion, a spirally wound portion outside the lead screw and the sleeve is a spiral portion, the sleeve is a tubular structure, and the sleeve has at least one section of coaxially and gapped Outside the lead screw, the sleeve has a spiral structure, and the spiral structure cooperates with the lead screw to form a spiral pair, the sleeve is close to one end of the spiral portion of the spiral wire and a robot head device Connected without relative movement, one end of the helical wire is also fixedly
- the intelligent robot has a first state: when the displacement transmission mechanism is in the first state, the length of the sleeve sleeve overlapping the axial direction of the lead screw is the longest The spiral portion of the spiral wire is in an initial state, and the length of the spiral portion in the axial direction is the shortest. At this time, the distance of the robot head device relative to the control device is the farthest, and the intelligent robot is The "head" extends to the longest state.
- the intelligent robot has a second state: when the bit When the transfer mechanism is in the second state, the length of the sleeve sleeve axially overlapping outside the lead screw is the shortest, the spiral portion of the spiral wire is in a stretched state, and the spiral portion is axially The length is the longest, at which time the distance of the robot head device relative to the control device is the shortest, and the "head" of the intelligent robot returns to the original position.
- the lead screw is rotated by the rotary driving device, and the rotary motion of the lead screw is converted into the sleeve by a screw pair between the lead screw and the sleeve.
- Displacement of the tube in the axial direction by changing the direction of the rotational movement of the output of the rotary drive device, controlling the change of the length of the sleeve sleeve axially coincident outside the lead screw, thereby controlling the intelligent robot in the A change between the first state and the second state.
- the displacement transmission mechanism and the intelligent robot provided by the embodiments of the present invention include: a lead screw, a spiral wire, a sleeve, and a sleeve sleeved outside the lead screw, and the spiral wire includes a spring-like spiral portion and a linear straight portion.
- the two ends of the spiral wire are respectively connected with the sleeve and the spiral wire through the first component and the second component, and the spiral length of the spiral wire when the sleeve is displaced relative to the lead screw
- the effect of the spiral wire maintaining its own transmission signal is not affected; thus, it is possible to avoid the situation that the wire passing through the inside of the action mechanism is pulled off due to the mechanism performing the action, thereby improving the utilization of the space of the body and ensuring the signal transmission and mechanism.
- the action is executed at the same time.
- FIG. 1 is an overall structural diagram of a displacement transmission mechanism according to an embodiment of the present invention
- FIG. 2 is a schematic structural view of a spiral wire according to an embodiment of the present invention.
- FIG. 3 is a schematic structural diagram of a lead screw according to an embodiment of the present invention.
- FIG. 4 is a schematic view showing the connection of a sleeve and a nut according to an embodiment of the present invention.
- the displacement transmission mechanism includes a sleeve 1 and at least one spiral wire 2 (when the number of the spiral guides 2 is plural, the plurality of spiral wires 2 can be folded into one a lead screw 3, the sleeve 1 is sleeved on one end of the lead screw 3 at the same time, and at least one portion of the sleeve 1 outside the lead screw 3 is at least one place with the lead screw 3 Connected, at least a portion of the spiral wire is spirally wound, similar to a spring structure, at least one section of the spiral wire 2 is located in the lead screw 3, and at least one section of the spiral wire 2 is located in the sleeve 1 Inside.
- the spiral wire 2 can be fixed as both ends of the transmission medium, and the screw shaft 3 and the sleeve 1 function to fix and displace. It can be seen that the structure ensures both the transmission function of the carrier and the displacement function.
- a stepwise displacement method such as an opening design every 1 cm or a pneumatic or hydraulic design may be employed. Among them, when the former is designed, the rotation can be fixed, and the hydraulic control can also be used here.
- the displacement transmission mechanism includes a sleeve 1, at least one spiral wire 2, and a lead screw 3, and the sleeve 1 is overlapped on the lead screw at one end. At least one end of the sleeve 1 is at least one portion of the sleeve 1 outside the lead screw 3 and is connected to the lead screw 3, and at least a part of the spiral wire is spirally wound, similar to the structure of a spring. At least one section of the spiral wire 2 is located in the lead screw 3, and at least one section of the spiral wire 2 is located inside the sleeve 1.
- the spiral wire 2 can be fixed as both ends of the transmission medium, and the screw shaft 3 and the sleeve 1 function to fix and displace.
- the structure ensures both the transmission function of the carrier and the displacement function.
- a stepwise displacement method such as an opening design every 1 cm or a pneumatic or hydraulic design may be employed.
- the former opening design it can be fixed by rotation, and it can also be used in hydraulic control. I won't go into details here.
- the lead screw 3 is a tubular structure having an inner hole for reserving the wiring space. It should be noted that the inner hole of the lead screw 3 is not necessarily in the structure.
- the position of the shaft center can be eccentric design according to the design requirements. For example, in the design consideration, the eccentric design can adopt the through-design of the same embodiment.
- the outer surface of the lead screw 3 is provided with a thread 31 from one end, and at least a part of the area of the thread 31 covers the entire outer surface of the lead screw 3; the lead screw 3 is away from the thread 31.
- the other end is provided with a transmission structure 32 for receiving the torque transmitted by the rotary driving device for driving the screw 3 to rotate about its axis, so that the device can be moved.
- the torque can be adapted according to the required torque.
- the rotary drive of the power ensures that the rotational movement of the lead screw 3 satisfies the speed requirement of the action of the mechanism.
- the transmission structure 32 disposed at one end of the lead screw 3 is a keyway or a key.
- the keyway may be in the form of a single key, a combination of multiple keyways, and
- the cooperation may be a single keyway structure on a transmission part, or a combined keyway structure adapted to a combination of multiple keyways, and in addition, when the transmission structure 32 on the lead screw 3 is a keyway or a combination keyway, the transmission is matched with it.
- the component may be a single key or a combination of multiple keys.
- the type of the key or the keyway may be a flat key, a semi-circular key, a ⁇ key, a tangential key, a spline, etc., and the transmission structure 32 on the lead screw 3 may also be It is a combination of a keyway and a key.
- a displacement device which can relatively move the lead screw 3 of the displacement transmission mechanism and the sleeve 1 while also passing through the guide body or the wire through the reserved tubular structure.
- the mounting portions of the conductors and wires can be made public.
- the displacement transmission mechanism comprises a lead screw 3, at least one spiral wire 2, a sleeve 1, and at least a part of the sleeve 1 is sleeved outside the lead screw 3, At least one of the sleeves 1 is connected to the lead screw 3, at least one section of the spiral wire 2 is located in the lead screw 3, and at least one section of the spiral wire 2 is located inside the sleeve 1.
- the spiral wire 2 can be fixed at both ends of the transmission medium, and the screw shaft 3 and the sleeve 1 are fixed and displaced.
- the spiral wire 2 is divided into at least two portions, and at least a linear segment located in the lead screw 3 is a straight portion 22, which is located outside the lead screw 3 and A section of the sleeve 1 which is spirally wound is a spiral portion 21, and the spiral portion 21 of the spiral wire 2 is freely expandable and contractible with respect to the sleeve 1.
- the outer surface of the spiral wire 2 is generally a plastic material, which is in contact with the smoothed inner wall of the sleeve 1 and the lead screw 3, and when the sleeve 1 and the lead screw 3 move relative to each other, the spiral wire 2
- the spiral portion 21 also correspondingly expands and contracts, and the outer surface of the spiral portion 21 is in sliding contact with the sleeve 1, and since the friction generated between the two is small, the expansion and contraction of the spiral portion 21 of the spiral wire 2 can be regarded as freely Movement relative to the sleeve 1 without interference with the friction generated between the sleeve 1 and the movement.
- the material of the lead screw 3 may be a metal material or a plastic material or other hard material that satisfies the strength.
- the spiral wire 2 is used to transmit electrical signals and/or transmit optical signals.
- the electrical signal may be a drive signal for conducting a drive signal and or a broadcast signal with the displacement transmission mechanism.
- the spiral wire 2 may also transmit an energy signal, such as electrical energy; Wire 2 can integrate the two signals as needed.
- the displacement transmission mechanism includes a sleeve 1, at least one spiral wire 2, and a lead screw 3, and the sleeve 1 is overlapped on the lead screw at one end. At least one end of the sleeve 1 is connected to the lead screw 3 at least one portion of the sleeve 1 outside the lead screw 3, and at least a part of the spiral wire 2 is spirally wound, similar to the structure of the spring. At least one section of the spiral wire 2 is located in the lead screw 3, and at least one section of the spiral wire 2 is located inside the sleeve 1.
- the spiral wire 2 can be fixed as both ends of the transmission medium, and the screw shaft 3 and the sleeve 1 function to fix and displace.
- the structure ensures both the transmission function of the carrier and the displacement function.
- a stepwise displacement method such as an opening design every 1 cm or a pneumatic or hydraulic design may be employed.
- the former when designed for opening, it can be fixed by rotation, and at the same time of hydraulic control. Adoption here is not described here.
- the sleeve 1 is a tubular structure having an inner hole. It should be noted that the axis of the inner hole is not necessarily at the center of the structure of the sleeve 1, and an eccentric design can be adopted.
- the tube 1 has at least one section coaxially and with a gap outside the lead screw 3, and the inner wall of the sleeve 1 has a spiral structure, and the spiral structure cooperates with the thread on the lead screw to form a spiral pair, and the spiral pair can
- the rotational movement of the lead screw 3 translates into a linear displacement of the sleeve 1.
- the space inside the casing 1 is used for the wiring, and the inner wall of the casing 1 is smoothed to reduce the friction generated between the wire and the inner wall, thereby reducing the possibility of wire wear.
- the spiral structure on the inner wall of the sleeve 1 is located at one end of the sleeve 1.
- the spiral structure can be It is placed at any position on the inner wall of the casing 1.
- the material of the sleeve 1 may be a metal material or a plastic material or other hard material that satisfies the strength.
- the spiral structure on the sleeve 1 is a nut 4, and the nut 4 and the sleeve 1 are integrally fixed by a fastener, in this embodiment.
- the fastener is preferably a screw, and the nut 4 and the lead screw 3 may be formed into a spiral pair, and the rotation of the screw 3 is converted into the nut 4 and the sleeve 1 by a screw pair.
- the nut 4 is an annular body, and at least one turn 41 is provided on the inner ring surface for the thread 31 with the outer surface of the lead screw 3.
- a threaded through hole 42 is provided on the annular surface of the nut 4 for the screw to pass through, and the nut 4 is fixedly connected to one end of the sleeve 1 or may be bonded or
- the wire 4 is fixed to the sleeve 1 by riveting and welding, and the core 4 may be made of a metal material or a plastic material.
- the spiral pair formed by the sleeve 1 or the nut 4 and the lead screw 3 is a threaded screw pair or a ball screw pair.
- the screw 3 and the nut 4 are introduced.
- the sleeve 1 and the lead screw are used. 3 or the mother 4 and the screw 3
- one end of the sleeve 1 adjacent to the spiral portion 21 of the spiral wire 2 is connected to a first member without relative movement, and one end of the spiral wire 2 is also fixedly connected to the first member. It is worth noting that the spiral wire 2 is fixedly connected to the first component by a clamping device mounted on the first component, and the spiral wire 2 is adjacent to the end of the one end of the first component and the electric device in the first component. Connected.
- One end of the lead screw 3 adjacent to the straight portion of the spiral wire 2 is connected to the rotary driving device and can be rotated under the driving thereof, and the end of the spiral wire 2 away from the spiral portion 21 passes through the screw shaft 3
- the end of the spiral wire 2 adjacent the end of the second component is connected to a control device fixedly mounted on the second component.
- the control device in the second component can transmit energy or signals through the screw wire 2 through the lead screw 3 and between the bushing 1 and the electric device in the first component.
- the electric device and the control The position of the device can be reversed. Since the electric device is mounted on the first component without relative movement between the two, it can be regarded as a whole.
- control device can also be regarded as one with the second component.
- the end of the sleeve 1 and the end of the spiral wire 2 adjacent to the spiral portion 21 are both fixed to the first member.
- one end of the screw rod 3 is close to the spiral wire 2
- One end of the portion 22 is fixed to the second member, and when the relative movement in the axial direction occurs between the lead screw 3 and the sleeve 1, the two ends of the spiral wire 2 are equivalent to passing through the first
- the pulling of the member and the second member produces a telescopic movement, and the telescopic movement mainly occurs in the spiral portion 21 of the spiral wire 2, which is expressed as the length or length of the spiral portion 21 extending in the axial direction.
- the spiral portion 21 of the spiral wire 2 has a first state: when the displacement transmission mechanism is in the first state, the sleeve 1 is axially overlapped on the outer edge of the lead screw 3 The length is the longest, the spiral portion 21 of the spiral wire 2 is in an initial state, and the screw The length of the knob 21 in the axial direction is the shortest.
- the spiral portion 21 of the spiral wire 2 has a second state: when the displacement transmission mechanism is in the second state, the length of the sleeve 1 is axially overlapped outside the lead screw 3 To be the shortest, that is, the end of the spiral portion 21 of the sleeve 1 close to the spiral wire 2 is farthest from the end of the screw rod 3 close to the straight portion 22 of the spiral wire 2, according to the principle mentioned above, since the sleeve 1 is away from the wire One end of the bar 3 is connected to one end of the spiral wire 2 near the spiral portion 21 through the first member, and the end of the screw shaft 3 away from the sleeve 1 is connected to one end of the spiral wire 2 near the straight portion 22 through the second member, the spiral wire 2 Both ends are pulled by the moving movement of the sleeve 1 and the lead screw 3, and the spiral portion 21 of the spiral wire 2 is correspondingly elongated to the longest, which is represented by the tensioned state of the spiral wire 2.
- the lead screw 3 is driven by the rotary driving device, and the rotary driving device can be selected as a stepping motor, and the stepping motor is connected to the transmission structure 32 on the lead screw through the belt, stepping The torque outputted by the motor can drive the rotation of the lead screw 3, and the rotary motion of the lead screw 3 is converted into the axial direction of the sleeve 1 by the spiral pair between the lead screw 3 and the sleeve 1.
- Displacement and changing the length of the sleeve 1 over the axial overlap of the lead screw 3 by changing the direction of the rotational motion of the rotary drive or the stepper motor output, due to the distance of the sleeve 1 from the wire
- One end of the bar 3 is connected to one end of the spiral wire 2 near the spiral portion 21 through the first member, and the end of the screw shaft 3 away from the sleeve 1 is connected to one end of the spiral wire 2 near the straight portion 22 through the second member, the spiral wire 2
- the spiral portion 21 also continually undergoes a state change of elongation and shortening, thereby controlling the change of the displacement transmission mechanism between the first state and the second state.
- an intelligent robot which includes a displacement transmission mechanism, a body device, and a control device.
- the displacement transmission mechanism includes a sleeve 1 and at least one a spiral wire 2, a lead screw 3, the sleeve 1 is sleeved on one end of the lead screw 3 at the same time, and at least one portion of the sleeve 1 outside the lead screw 3 is at least one place with the wire
- the bars 3 are connected, and at least a part of the spiral wires are spirally wound, similar
- at least one section of the spiral wire 2 is located in the lead screw 3, and at least one section of the spiral wire 2 is located inside the sleeve 1.
- the spiral wire 2 can be fixed as both ends of the transmission medium, and the screw shaft 3 and the sleeve 1 function to fix and displace. It can be seen that the structure ensures both the transmission function of the carrier and the displacement function.
- a stepwise displacement method such as an opening design every 1 cm or a pneumatic or hydraulic design may be employed.
- the rotation can be fixed, and the hydraulic control can also be used here.
- the two ends of the spiral wire of the displacement transmission mechanism are respectively connected to the body device and the control device.
- an intelligent robot in another embodiment, includes a displacement transmission mechanism, a body device, and a control device.
- the displacement transmission mechanism includes a sleeve 1 and at least a spiral wire 2, a lead screw 3, the sleeve 1 is sleeved on one end of the lead screw 3 at the same time, and at least one portion of the sleeve 1 outside the lead screw 3 is at least
- the lead screw 3 is connected, at least a part of the spiral wire is spirally wound, similar to the structure of a spring, at least one section of the spiral wire 2 is located in the lead screw 3, and at least one section of the spiral wire 2 is located in the sleeve Inside the tube 1.
- the spiral wire 2 can be fixed as both ends of the transmission medium, and the screw shaft 3 and the sleeve 1 function to fix and displace. It can be seen that the structure ensures both the transmission function of the carrier and the displacement function.
- a stepwise displacement method such as an opening design every 1 cm or a pneumatic or hydraulic design may be employed.
- the rotation can be fixed, and the hydraulic control can also be used here.
- the two ends of the spiral wire of the displacement transmission mechanism are respectively connected to the body device and the control device.
- one end of the sleeve 1 in the displacement transmission mechanism of the intelligent robot in the embodiment is adjacent to the spiral portion 21 of the spiral wire 2 and is connected to the body device without relative movement.
- One end of the spiral wire 2 It is also fixedly connected to the body device.
- the body device is a head device of a robot.
- the spiral wire 2 functions as a robot head
- the electric equipment installed in the department is powered to perform the required head movements.
- One end of the screw rod close to the straight portion of the spiral wire 2 is connected to the rotary driving device and can be rotated under the driving thereof, and the end of the spiral wire 2 away from the spiral portion 21 passes through the screw rod 3 and a control
- the device is fixedly connected, and the power device is installed in a robot bottom device, and one end of the screw rod 3 is connected to the robot bottom device without relative displacement along the screw axis, and the robot bottom device supports the entire robot and generates
- the function of moving along the ground, the power equipment installed in the bottom device of the robot is used to transmit electric energy or signals to the robot head through the spiral wire 2 passing through the lead screw 3 and the sleeve 1, and the output current of the power device can be controlled by other control devices.
- Different signal characteristics such as current magnitude or current direction or waveform or frequency of electrical signals, etc.
- control the electric device in the robot head device to perform corresponding actions to realize different action modes of the robot head device, such as the swing of the robot head , the operation of other electronic devices, etc.
- the position of the control device and the electric device relative to the lead screw 3 and the sleeve 1 can be reversed, and the technical effect is to transmit electric energy or signals from the head of the robot to the bottom of the robot.
- the energy or signal in the robot head device is transmitted to the bottom device of the robot to realize the motion scheme of the robot bottom device, such as the overall movement function of the robot.
- the power device and the electric device are respectively arranged in the head device of the robot and the bottom device of the robot, so as to realize the two-way transmission of signals or energy, and realize the motion plan jointly generated by the robot head or the bottom part of the robot or A combined motion scheme, such as a swing of a robot head or a movement of other electronic devices of the robot head or a moving function of the robot as a whole or a combination of the above three motion modes.
- the intelligent robot in the embodiment has a first state: when the displacement transmission mechanism in the intelligent robot is in the first state, the sleeve 1 is sleeved on the outer edge of the lead screw 3
- the length of the axial overlap is the longest
- the spiral portion 21 of the spiral wire 2 is in an initial state
- the length of the spiral portion 21 in the axial direction is the shortest
- the electric device is mounted on the robot head device, between the two Without relative movement, it can be regarded as a whole.
- the control The device is also visible as a whole with the robot bottom device, so that one end of the sleeve 1 and one end of the spiral wire 2 near the spiral portion 21 are fixed to the robot head due to the lead screw 3 is connected to the robot bottom device without relative movement along the screw axis, and one end of the spiral wire 2 close to the straight portion 22 is connected with the electric equipment installed in the bottom device of the robot, and can be regarded as a direction along the axis of the screw An end of the screw 3 and the spiral wire 2 near the straight portion 22 is fixedly connected to the robot bottom device, and when axial movement occurs between the screw rod 3 and the sleeve 1, Both ends of the spiral wire 2 correspond to the stretching motion by the pulling of the robot head device and the robot bottom device, and the telescopic movement mainly occurs in the spiral portion 21 of the spiral wire 2, which is expressed as the length of the spiral portion 21 in the axial direction.
- the range is extended or shortened. Since the robot head device is fixedly connected to the end of the sleeve 1 remote from the lead screw 3, in the axial direction of the screw shaft 3, with the reference position of the robot bottom device moving, when the intelligent robot is in the first state, the robot head The device is closest to the reference position, so this state is also referred to as the "original state" of the robot's head.
- the intelligent robot in the embodiment has a second state: when the displacement transmission mechanism in the intelligent robot is in the second state, the sleeve 1 is sleeved on the lead screw 3
- the length of the outer edge axially coincident is the shortest
- the spiral portion 21 of the spiral wire 2 is in a stretched state
- the length of the spiral portion 21 in the axial direction is the longest.
- the position of the lead screw 3 is used as the reference position for the movement of the bottom device of the robot.
- the intelligent robot is in the second state
- the distance of the robot head device from the reference position is the farthest, so this state Also known as the "outward state" of the robot's head.
- the screw 3 passes between the lead screw 3 and the sleeve 1
- the spiral pair converts the rotational motion of the lead screw 3 into the axial displacement of the sleeve 1.
- the rotary driving device is a stepping motor, and at the same time, by changing the rotary driving device or stepping
- the direction of rotational motion of the motor output can control the sleeve 1 to be sleeved on the wire a change in the length of the outer edge of the bar 3 in the axial direction, thereby controlling the change of the smart robot between the first state and the second state, in particular, the robot head device can correspondingly from the "original state” “Extension until the "extended state” and from the "extended state” to the "original state”, visually expresses the action form of the robot "extended head” and “shrinking head", while being located in the casing 1 and
- the spiral wire 2 inside the lead screw 3 can adjust the elongation and the shortened state of the spiral portion correspondingly with the "stretching" of the robot head, thereby ensuring that the spiral wire 2 is not moved during the telescopic movement of the robot head.
- the force is broken, which ensures that the function of transmitting the
- the improvement of the present invention lies in that a spiral portion 21 spirally wound on the spiral wire 2 is provided, and the screw shaft 3 is provided as a tubular structure having an inner hole, and the sleeve 1 is also a tubular structure, so that the spiral wire 2 can be set Inside the casing 1 and the lead screw 3.
- the displacement transmission mechanism comprises: a lead screw, a spiral wire, a sleeve, and the sleeve is sleeved outside the lead screw, and the spiral wire comprises a spring-like spiral portion and a linear straight portion, respectively located in the sleeve and the wire.
- the two ends of the spiral wire are respectively connected to the sleeve and the spiral wire through the first component and the second component, and when the sleeve is displaced relative to the lead screw, the length of the spiral portion of the spiral wire changes correspondingly, and the spiral wire remains The function of the self-transmitted signal is not affected; in this way, it is possible to avoid the situation that the wire passing through the inside of the action mechanism is pulled off due to the action of the mechanism, thereby improving the utilization of the space of the body and ensuring that the signal transmission and the mechanism action are simultaneously performed.
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Abstract
一种位移传输机构，包括：丝杠（3），螺旋导线（2），套管（1），套管（1）套在丝杠（3）外，螺旋导线（2）包括类似弹簧形状的螺旋部以及直线状的直线部，分别位于套管（1）和丝杠（3）内，螺旋导线（2）的两端通过第一部件和第二部件分别与套管（3）和螺旋导线（2）相连接，当套管（1）相对于丝杠（3）产生位移时，螺旋导线（2）的螺旋部长度相应变化，同时螺旋导线（2）保持自身传输信号的作用不受影响，同时公开了一种应用了所述位移传输机构的智能机器人。
Description
本发明涉及传输结构，特别涉及一种位移传输机构和智能机器人。
在机电设备执行伸缩动作的部件中设置有给末端负载传输电信号的导线，常用的方法是将传输电信号的导线设置在元件的外部，同时位于伸缩元件的关节处设置足够长的一端，以满足执行伸缩动作的元件在伸长时导线逐渐伸直而不被拉断；由于设置在伸缩元件外部的导线在所述伸缩元件未伸出到最长状态时处于卷曲状态，容易干扰周围的其他元件的动作，增加了结构的复杂度，使得机构的空间利用率下降，增加了机构的整体体积。
发明内容
为了解决现有技术的问题，本发明实施例期望提供一种位移传输机构、以及应用所述位移传输机构的智能机器人。
本发明采用的技术方案如下：
本发明实施例提供一种位移传输机构，包括一个丝杠，至少一根螺旋导线，一根套管，所述套管至少有一部分套在所述丝杠外，所述套管的至少有一处与所述丝杠相连接，所述螺旋导线至少一段位于所述丝杠内，所述螺旋导线至少有一段位于所述套管之内。
上述方案中，可选地，所述丝杠为一管状结构，所述丝杠的外表面从一端开始设置有螺纹，所述螺纹所在区域不覆盖整个所述丝杠的外表面；所述丝杠远离螺纹的另一端设置有传动结构，用于接收旋转驱动装置传递过来的驱动所述丝杠绕其轴线旋转的转矩。
上述方案中，可选地，所述螺旋导线分为至少两部分，至少位于所述丝杠内的呈直线状的一段为直线部，位于所述丝杠外及所述套管内呈螺旋状盘绕的一段为螺旋部，所述螺旋导线的螺旋部能相对所述套管自由伸缩，所述螺旋导线为传输电流的电导线或传输电信号的电缆线或传输光信号的光缆线。所述套管为一管状结构，所述套管至少有一段同轴地有间隙地套在所述丝杠外，所述套管上具有螺旋结构，所述螺旋结构与所述丝杠配合形成螺旋副。所述套管上的螺旋结构包括一个丝母，所述丝母与所述套管通过紧固件固定为一体，所述丝母与所述丝杠形成螺旋副，所述丝杠的旋转通过螺旋副转化为所述丝母及所述套管沿轴向的位移。所述套管靠近所述螺旋导线的螺旋部的一端与一个第一部件无相对运动地连接，所述螺旋导线的一端也与所述第一部件固定连接。所述丝杠靠近所述螺旋导线的直线部的一端与旋转驱动装置相连接并能在其驱动下进行旋转运动，所述螺旋导线远离螺旋部的一端穿过丝杠与一个第二部件固定连接。
所述螺旋导线的螺旋部存在一个第一状态，当所述位移传输机构处于所述第一状态时，所述套管套在丝杠外沿轴向重合的长度为最长，所述螺旋导线的螺旋部处于初始状态，所述螺旋部沿轴向的长度为最短。
所述螺旋导线的螺旋部存在一个第二状态，当所述位移传输机构处于所述第二状态时，所述套管套在所述丝杠外沿轴向重合的长度为最短，所述螺旋导线的螺旋部处于拉伸状态，所述螺旋部沿轴向的长度为最长。
所述丝杠在所述旋转驱动装置的驱动下旋转，通过所述丝杠与所述套管之间的螺旋副将所述丝杠的旋转运动转化为所述套管沿轴向的位移，通过改变所述旋转驱动装置输出的旋转运动方向来控制所述套管套在所述丝杠外沿轴向重合的长度的改变，进而控制所述位移传输机构在所述第一状态和所述第二状态之间的变化。
上述方案中，可选地，所述丝杠一端设置的传动结构为键槽或键。
上述方案中，可选地，所述套管上的螺旋结构位于套管的一端。
上述方案中，可选地，所述螺旋副为螺纹丝杠副或滚珠丝杠副。
本发明实施例还提供一种智能机器人，所述智能机器人包括一个位移传输机构，所述位移传输机构包括一个丝杠，至少一根螺旋导线，一根套管，所述套管至少有一部分套在所述丝杠外，所述套管的至少有一处与丝杠相连接，所述螺旋导线至少一段位于所述丝杠内，所述螺旋导线至少有一段位于所述套管之内。可选地，所述螺旋导线为传输电信号的电缆线或传输光信号的光缆线。可选地，所述丝杠为一管状结构，所述丝杠的外表面从一端开始设置有螺纹，所述螺纹所在区域不覆盖整个所述丝杠的外表面；所述丝杠远离螺纹的另一端设置有传动结构，用于接收旋转驱动装置传递过来的驱动所述丝杠绕其轴线旋转的转矩，所述螺旋导线分为至少两部分，至少位于所述丝杠内的呈直线状的一段为直线部，位于所述丝杠外及所述套管内呈螺旋状盘绕的一段为螺旋部，所述套管为一管状结构，所述套管至少有一段同轴地有间隙地套在所述丝杠外，所述套管上具有螺旋结构，所述螺旋结构与所述丝杠配合形成螺旋副，所述套管靠近所述螺旋导线的螺旋部的一端与一个机器人头部装置无相对运动地连接，所述螺旋导线的一端也与所述机器人头部装置固定连接。所述丝杠靠近所述螺旋导线的直线部的一端与旋转驱动装置相连接并能在其驱动下进行旋转运动，所述螺旋导线远离螺旋部的一端穿过丝杠与一个控制设备固定连接。
上述方案中，可选地，所述智能机器人存在一个第一状态：当所述位移传输机构处于所述第一状态时，所述套管套在丝杠外沿轴向重合的长度为最长，所述螺旋导线的螺旋部处于初始状态，所述螺旋部沿轴向的长度为最短，此时，所述机器人头部装置相对于所述控制设备的距离为最远，所述智能机器人的“头部”伸出到最长状态。
上述方案中，可选地，所述智能机器人存在一个第二状态：当所述位
移传输机构处于所述第二状态时，所述套管套在所述丝杠外沿轴向重合的长度为最短，所述螺旋导线的螺旋部处于拉伸状态，所述螺旋部沿轴向的长度为最长，此时，所述机器人头部装置相对于所述控制设备的距离为最短，所述智能机器人的“头部”回到原位。
上述方案中，可选地，所述丝杠在所述旋转驱动装置的驱动下旋转，通过所述丝杠与所述套管之间的螺旋副将所述丝杠的旋转运动转化为所述套管沿轴向的位移，通过改变所述旋转驱动装置输出的旋转运动方向来控制所述套管套在所述丝杠外沿轴向重合的长度的改变，进而控制所述智能机器人在所述第一状态和所述第二状态之间的变化。
本发明实施例提供的位移传输机构和智能机器人，位移传输机构包括：丝杠，螺旋导线，套管，套管套在丝杠外，螺旋导线包括类似弹簧形状的螺旋部以及直线状的直线部，分别位于套管和丝杠内，螺旋导线的两端通过第一部件和第二部件分别与套管和螺旋导线相连接，当套管相对于丝杠产生位移时，螺旋导线的螺旋部长度相应变化，同时螺旋导线保持自身传输信号的作用不受影响；如此，能够避免穿过动作机构内部的导线由于机构执行动作时产生拉断的情况，提升机体空间的利用率，保证信号传输与机构动作同时执行。
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中使用的附图作一简单地介绍，显而易见地，下面所列附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还能够根据这些附图获得其他的附图。
图1为本发明实施例提供的位移传输机构的整体结构图；
图2为本发明实施例提供的螺旋导线的结构示意图；
图3为本发明实施例提供的丝杠的结构示意图；
图4为本发明实施例提供的套管与丝母的连接示意图。
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明的实施方式作进一步地详细描述。
在一个实施例中，如图1所示，所述位移传输机构包括，一根套管1，至少一根螺旋导线2(当螺旋导向2为多根时，这多根螺旋导线2可攥成一束)，一个丝杠3，所述套管1一端重合地套在丝杠3的一端外，同时所述套管1套在所述丝杠3外的部分至少有一处与所述丝杠3相连接，所述螺旋导线至少一部分呈螺旋状盘绕，类似于弹簧的结构，所述螺旋导线2至少一段位于所述丝杠3内，所述螺旋导线2至少有一段位于所述套管1之内。这里的螺旋导线2可以作为传输介质两端固定，丝杠3和套管1起到固定和位移的功能。由此可见，所述结构同时保证了载体的传输功能也保证了位移功能。而在丝杠3位移的过程中，可以采用分段位移的方法，例如每隔1厘米的开口设计或者气压或液压设计。其中，在前者开口设计的时候，可以采用旋转固定，而在液压控制的同时也可以采用这里不在赘述。
在另一个实施例中，如图1所示，所述位移传输机构包括，一根套管1，至少一根螺旋导线2，一个丝杠3，所述套管1一端重合地套在丝杠3的一端外，同时所述套管1套在所述丝杠3外的部分至少有一处与所述丝杠3相连接，所述螺旋导线至少一部分呈螺旋状盘绕，类似于弹簧的结构，所述螺旋导线2至少一段位于所述丝杠3内，所述螺旋导线2至少有一段位于所述套管1之内。这里的螺旋导线2可以作为传输介质两端固定，丝杠3和套管1起到固定和位移的功能。由此可见，所述结构同时保证了载体的传输功能也保证了位移功能。而在丝杠3位移的过程中，可以采用分段位移的方法，例如每隔1厘米的开口设计或者气压或液压设计。其中，在前者开口设计的时候，可以采用旋转固定，而在液压控制的同时也可以采用
这里不在赘述。在本实施例中，所述丝杠3为一管状结构，具有一个内孔，用于预留走线空间，需要指出的是，所述丝杠3的内孔不一定在所述结构体的轴心位置，根据设计需要可以采用偏心设计，例如，处于设计考虑，偏心设计可以采用的同类本实施例的贯穿设计。这样可以选择采用不同的壁作为紧固或固定方向。如图3所示，所述丝杠3的外表面从一端开始设置有螺纹31，所述螺纹31所在区域至少一部分覆盖整个所述丝杠3的外表面；所述丝杠3远离螺纹31的另一端设置有传动结构32，用于接收旋转驱动装置传递过来的驱动所述丝杠3绕其轴线旋转的转矩，使得所述装置可以进行移动，当然，根据需要转矩大小可以适配不同功率的旋转驱动装置，保证丝杠3的旋转运动满足机构的动作的速度要求。优选地，所述丝杠3一端设置的传动结构32为键槽或键，当所述丝杠3上的传动结构32为键时，所述键槽可以是单键形式，多键槽组合的形式，与之配合的可以是一个传动零件上的单一键槽结构，或者与多键槽组合形式适配的组合键槽结构，另外，当丝杠3上的传动结构32为键槽或组合键槽时，与之配合的传动零件可以是单一键或多键组合的结构，上述键或键槽的类别可以是平键、半圆键、锲形键、切向键、花键等，所述丝杠3上的传动结构32也可以是键槽和键的组合形式。
作为一种实施方式，本实施例中提供了一种位移装置，能够使所述位移传输机构的丝杠3和套管1进行相对位移，同时也通过预留的管状结构穿引导体或导线来进行传输信号，导体和导线的安装部分可以公开。
在另一个实施例中，所述位移传输机构包括一个丝杠3，至少一根螺旋导线2，一根套管1，所述套管1至少有一部分套在所述丝杠3外，所述套管1的至少有一处与所述丝杠3相连接，所述螺旋导线2至少一段位于所述丝杠3内，所述螺旋导线2至少有一段位于所述套管1之内。这里的螺旋导线2可以作为传输介质两端固定，丝杠3和套管1起到固定和位移的
功能。由此可见，所述结构同时保证了载体的传输功能也保证了位移功能。如图2所示，在本实施例中，所述螺旋导线2分为至少两部分，至少位于所述丝杠3内的呈直线状的一段为直线部22，位于所述丝杠3外及所述套管1内呈螺旋状盘绕的一段为螺旋部21，所述螺旋导线2的螺旋部21能相对所述套管1自由伸缩。螺旋导线2的外表面一般为塑胶材料，与所述套管1和所述丝杠3的进过光滑处理的内壁相接触，当套管1与丝杠3发生相对运动时，螺旋导线2的螺旋部21也会相应地产生伸缩，螺旋部21的外表面与套管1之间滑动接触，由于两者间产生的摩擦力小，螺旋导线2的螺旋部21的伸缩可被视为自由地相对于套管1而运动，而不被与套管1之间产生的摩擦力而干扰运动。所述丝杠3的材料可以采用金属材料或者是塑料材料或者其他满足强度的硬质材料。在本实施例中，所述螺旋导线2用于传输电信号和/或传输光信号。所述电信号或可以是驱动信号，用于传导与所述位移传输机构的驱动信号和或广播信号，优选地，所述螺旋导线2还可以传输能量信号，例如电能；需要指出的是，螺旋导线2可以根据需要将两者信号整合在一起。
在另一个实施例中，如图1所示，所述位移传输机构包括，一根套管1，至少一根螺旋导线2，一个丝杠3，所述套管1一端重合地套在丝杠3的一端外，同时所述套管1套在所述丝杠3外的部分至少有一处与所述丝杠3相连接，所述螺旋导线2至少一部分呈螺旋状盘绕，类似于弹簧的结构，所述螺旋导线2至少一段位于所述丝杠3内，所述螺旋导线2至少有一段位于所述套管1之内。这里的螺旋导线2可以作为传输介质两端固定，丝杠3和套管1起到固定和位移的功能。由此可见，所述结构同时保证了载体的传输功能也保证了位移功能。而在丝杠3位移的过程中，可以采用分段位移的方法，例如每隔1厘米的开口设计或者气压或液压设计。其中，在前者开口设计的时候，可以采用旋转固定，而在液压控制的同时也可以
采用这里不在赘述。在本实施例中，所述套管1为一管状结构，具有一个内孔，需要指出的是，内孔的轴线不一定在套管1的结构体中心位置，可以采用偏心的设计方式，套管1至少有一段同轴地有间隙地套在所述丝杠3外，套管1内壁上具有螺旋结构，所述螺旋结构与所述丝杠上的螺纹配合形成螺旋副，螺旋副能够将丝杠3的旋转运动转化为套管1的直线位移。套管1内的空间用于走线，套管1内壁进行光滑处理，用以减小导线与内壁间产生的摩擦，降低导线磨损的可能性。可选地，在本实施例中，套管1内壁上的螺旋结构位于套管1的一端，需要指出的是，当套管1套在丝杠3外与丝杠3配合时，螺旋结构可以设置在套管1内壁上的任意一处。套管1的材料可以采用金属材料或者是塑料材料或者其他满足强度的硬质材料。
作为一种实施方式，如图4所示，所述套管1上的螺旋结构为一个丝母4，所述丝母4与所述套管1通过紧固件固定为一体，在本实施例中，紧固件优选为螺钉，也可以采用所述丝母4与所述丝杠3形成螺旋副，所述丝杠3的旋转通过螺旋副转化为所述丝母4及所述套管1沿轴向的位移，可选地，所述螺旋副为螺纹丝杠副或滚珠丝杠副。
在本实施例中，如图3、图4所示，所述丝母4为一个环状体，其内环面上设置有至少一圈螺纹41，用于与丝杠3外表面的螺纹31配合形成螺纹丝杠副，所述丝母4的环面上设置有螺纹通孔42，用于螺钉穿过其中将丝母4与套管1的一端固定连接为一体，也可以选用粘合或铆接，焊接的方式将丝母4与套管1固定在一起，所述丝母4可以选用金属材料或者塑料材料。
可选地，上述套管1或丝母4与丝杠3相配合形成的螺旋副为螺纹丝杠副或滚珠丝杠副，在本实施例中已介绍了丝杠3和丝母4之间配合为螺纹丝杠副的情况，在此不再赘述，当套管1与丝杠3或丝母4与丝杠3之间的运动副选择为滚珠丝杠副时，套管1与丝杠3或者丝母4与丝杠3之
间还存在有至少一个滚珠的情况，由于滚珠的存在，运动副之间的摩擦力减小，套管1与丝杠3之间的相对运动所需的启动力矩很小，避免了滑动接触时产生的爬行现象，能保证实现精确的微进给运动模式。
在本实施例中，所述套管1靠近所述螺旋导线2的螺旋部21的一端与一个第一部件无相对运动地连接，所述螺旋导线2的一端也与所述第一部件固定连接，值得指出的是，这里螺旋导线2通过一个安装在第一部件上的夹持装置与第一部件固定连接，而螺旋导线2靠近第一部件的一端的末端处与第一部件内的电动设备相连接。所述丝杠3靠近所述螺旋导线2的直线部的一端与所述旋转驱动装置相连接并能在其驱动下进行旋转运动，所述螺旋导线2远离螺旋部21的一端穿过丝杠3与一个第二部件固定连接，值得指出的是，螺旋导线2靠近第二部件的一端的末端处与一个固定安装在第二部件上的控制设备相连接。所述的第二部件内的控制设备可通过螺旋导线2穿过丝杠3与套管1与第一部件内的电动设备之间进行能量或信号的传输，当然，所述的电动设备和控制设备的位置可以对换，电动设备由于安装在第一部件上，两者之间没有相对运动，可被视为一个整体，同理，所述控制设备也与所述第二部件可视为一个整体，于是所述套管1的一端与所述螺旋导线2靠近螺旋部21的一端都与所述第一部件相固定，同理，所述丝杠3的一端与所述螺旋导线2靠近直线部22的一端都与所述第二部件相固定，当所述丝杠3和所述套管1之间发生沿轴向的相对运动时，所述螺旋导线2的两端相当于通过第一部件和第二部件的拉扯而产生伸缩运动，而伸缩运动主要发生在螺旋导线2的螺旋部21，表现为螺旋部21沿轴向的长度范围伸长或者缩短。
作为一种实施方式，所述螺旋导线2的螺旋部21存在一个第一状态：当所述位移传输机构处于所述第一状态时，所述套管1套在丝杠3外沿轴向重合的长度为最长，所述螺旋导线2的螺旋部21处于初始状态，所述螺
旋部21沿轴向的长度为最短。另外，所述螺旋导线2的螺旋部21存在一个第二状态：当所述位移传输机构处于所述第二状态时，所述套管1套在所述丝杠3外沿轴向重合的长度为最短，即套管1靠近螺旋导线2的螺旋部21的一端与丝杠3靠近螺旋导线2直线部22的一端距离最远，根据上文提到过的原理，由于套管1的远离丝杠3的一端通过第一部件与螺旋导线2靠近螺旋部21的一端相连接，丝杠3远离套管1的一端通过第二部件与螺旋导线2靠近直线部22的一端相连接，螺旋导线2的两端被套管1和丝杠3的相远离的运动而牵引，表现为螺旋导线2的螺旋部21相应地伸长到最长，表现为所述螺旋导线2的处于拉伸状态。
作为一种实施方式，所述丝杠3在所述旋转驱动装置的驱动下旋转，旋转驱动装置可选择为步进电机，步进电机通过皮带与丝杠上的传动结构32相连接，步进电机输出的转矩可以带动丝杠3的转动，进而通过所述丝杠3与所述套管1之间的螺旋副将所述丝杠3的旋转运动转化为所述套管1沿轴向的位移，而通过改变所述旋转驱动装置或步进电机输出的旋转运动方向来控制所述套管1套在所述丝杠3外沿轴向重合的长度的改变，由于套管1的远离丝杠3的一端通过第一部件与螺旋导线2靠近螺旋部21的一端相连接，丝杠3远离套管1的一端通过第二部件与螺旋导线2靠近直线部22的一端相连接，螺旋导线2的螺旋部21也不断地进行伸长和缩短的状态变化，进而控制所述位移传输机构在所述第一状态和所述第二状态之间的变化。
在另一个实施例中公开了一种智能机器人，所述智能机器人包括一个位移传输机构、机体设备和控制设备，如图1所示，所述位移传输机构包括，一根套管1，至少一根螺旋导线2，一个丝杠3，所述套管1一端重合地套在丝杠3的一端外，同时所述套管1套在所述丝杠3外的部分至少有一处与所述丝杠3相连接，所述螺旋导线至少一部分呈螺旋状盘绕，类似
于弹簧的结构，所述螺旋导线2至少一段位于所述丝杠3内，所述螺旋导线2至少有一段位于所述套管1之内。这里的螺旋导线2可以作为传输介质两端固定，丝杠3和套管1起到固定和位移的功能。由此可见，所述结构同时保证了载体的传输功能也保证了位移功能。而在丝杠3位移的过程中，可以采用分段位移的方法，例如每隔1厘米的开口设计或者气压或液压设计。其中，在前者开口设计的时候，可以采用旋转固定，而在液压控制的同时也可以采用这里不在赘述。在本实施例中，所述位移传输机构的所述螺旋导线两端分别与所述机体设备和所述控制设备相连接。
在另一个实施例中，公开了一种智能机器人，所述智能机器人包括一个位移传输机构、机体设备和控制设备，如图1所示，所述位移传输机构包括，一根套管1，至少一根螺旋导线2，一个丝杠3，所述套管1一端重合地套在丝杠3的一端外，同时所述套管1套在所述丝杠3外的部分至少有一处与所述丝杠3相连接，所述螺旋导线至少一部分呈螺旋状盘绕，类似于弹簧的结构，所述螺旋导线2至少一段位于所述丝杠3内，所述螺旋导线2至少有一段位于所述套管1之内。这里的螺旋导线2可以作为传输介质两端固定，丝杠3和套管1起到固定和位移的功能。由此可见，所述结构同时保证了载体的传输功能也保证了位移功能。而在丝杠3位移的过程中，可以采用分段位移的方法，例如每隔1厘米的开口设计或者气压或液压设计。其中，在前者开口设计的时候，可以采用旋转固定，而在液压控制的同时也可以采用这里不在赘述。在本实施例中，所述位移传输机构的所述螺旋导线两端分别与所述机体设备和所述控制设备相连接。可选地，本实施例中的智能机器人的位移传输机构中的套管1靠近所述螺旋导线2的螺旋部21的一端与所述机体设备无相对运动地连接，所述螺旋导线2的一端也与所述机体设备固定连接，在实际的机器人结构中，所述机体设备为一个机器人的头部装置。本实施例中，螺旋导线2的作用是向机器人头
部内安装的电动设备供电，以执行所需的头部动作。所述丝杠靠近所述螺旋导线2的直线部的一端与旋转驱动装置相连接并能在其驱动下进行旋转运动，所述螺旋导线2远离螺旋部21的一端穿过丝杠3与一个控制设备固定连接，所述电力设备安装在一个机器人底部装置内，所述丝杠3的一端与所述机器人底部装置沿丝杠轴线无相对位移地连接，所述机器人底部装置具有支撑整个机器人并产生沿地面移动的功能，机器人底部装置中安装的电力设备用于通过穿过丝杠3和套管1的螺旋导线2向机器人头部传输电能或信号，通过其他控制设备能够控制电力设备输出电流的不同信号特征，比如电流大小或者电流方向或者电信号的波形或频率等以控制机器人头部装置内的电动设备做出相应动作来实现机器人头部装置的不同的动作形态，比如机器人头部的摆动，其他电子设备的运转等。应当注意的是，所述控制设备和所述电动设备的相对于丝杠3和套管1的位置可以对换，产生的技术效果是从机器人的头部将电能或信号传输到机器人的底部，以实现机器人头部装置中的能量或信号传输到机器人的底部装置中，以实现机器人底部装置的运动方案，比如机器人整体的移动功能。还可以想到的是，机器人的头部装置和机器人的底部装置中分别设有电力设备和电动设备，以实现信号或能量的双向传输，实现机器人头部或机器人底部两部分共同产生的运动方案或组合运动方案，比如机器人头部的摆动或机器人头部其他电子设备的运转或机器人整体的移动功能或上述三种运动模式的组合。
作为一种实施方式，本实施例中所述智能机器人存在一个第一状态：当智能机器人中的所述位移传输机构处于所述第一状态时，所述套管1套在丝杠3外沿轴向重合的长度为最长，所述螺旋导线2的螺旋部21处于初始状态，所述螺旋部21沿轴向的长度为最短，电动设备由于安装在机器人头部装置上，两者之间没有相对运动，可被视为一个整体，同理，所述控
制设备也与所述机器人底部装置可视为一个整体，于是所述套管1的一端与所述螺旋导线2靠近螺旋部21的一端都与所述机器人头部相固定，由于所述丝杠3与所述机器人底部装置沿丝杠轴线无相对运动地连接，螺旋导线2靠近直线部22的一端与所述机器人底部装置中安装的电力设备相连接，沿丝杠轴线方向，可视为所述丝杠3与所述螺旋导线2靠近直线部22的一端都与所述机器人底部装置相固定连接，当所述丝杠3和所述套管1之间发生沿轴向的相对运动时，所述螺旋导线2的两端相当于通过机器人头部装置和机器人底部装置的拉扯而产生伸缩运动，而伸缩运动主要发生在螺旋导线2的螺旋部21，表现为螺旋部21沿轴向的长度范围伸长或者缩短。由于机器人头部装置与套管1的远离丝杠3的一端固定连接，在沿丝杠3的轴线方向上，以机器人底部装置运动的参考位置，当智能机器人处于第一状态时，机器人头部装置距离参考位置的距离最近，所以这一状态也被称为机器人的头部“原始状态”。
作为一种实施方式，本实施例中所述智能机器人存在一个第二状态：当智能机器人中的所述位移传输机构处于所述第二状态时，所述套管1套在所述丝杠3外沿轴向重合的长度为最短，所述螺旋导线2的螺旋部21处于拉伸状态，所述螺旋部21沿轴向的长度为最长。沿丝杠3的轴向方向上，以丝杠3所在位置作为机器人底部装置运动的参考位置，当智能机器人处于第二状态时，机器人头部装置距离参考位置的距离最远，所以这一状态也被称为机器人的头部“伸出状态”。
作为一种实施方式，本实施例中所述智能机器人的位移传输机构中的丝杠3在所述旋转驱动装置的驱动下旋转时，通过所述丝杠3与所述套管1之间的螺旋副将所述丝杠3的旋转运动转化为所述套管1沿轴向的位移，在本实施例中，旋转驱动装置为一个步进电机，同时，通过改变所述旋转驱动装置或步进电机输出的旋转运动方向能够控制所述套管1套在所述丝
杠3外沿轴向重合的长度的改变，进而控制所述智能机器人在所述第一状态和所述第二状态之间的变化，具体表现为，机器人头部装置能够相应地从“原始状态”伸出一直到“伸出状态”和从“伸出状态”缩回到“原始状态”，形象地表达了机器人“伸头”和“缩头”的动作形态，同时，位于套管1和丝杠3内部的螺旋导线2能够随着机器人头部的“伸缩”相应地调整其螺旋部的伸长和缩短的状态，保证了机器人头部伸缩运动的过程中螺旋导线2不被运动产生的作用力拉断，保证了螺旋导线2向头部传输电能的功能不受影响。
本发明的改进之处在于设置了螺旋导线2上呈螺旋状盘绕的螺旋部21，同时丝杠3设置为具有内孔的管状结构，套管1也为管状结构，于是螺旋导线2便可设置在套管1和丝杠3的内部。由于螺旋导线2的一端通过第一部件与套管1的一端连接在一起，与螺旋导线2的另一端通过第二部件和丝杠3的远离螺纹的一端连接在一起，同时套管1另一端上的丝母4与丝杠3上的螺纹形成螺旋副，丝杠3在旋转驱动装置的驱动下的旋转运动通过螺旋副转化为套管1的直线运动，使得套管1和丝杠3能产生沿轴向的相对位移，当套管1沿轴向朝远离丝杠3的方向运动时，螺旋导线2的螺旋部21相应地被拉长；当套管1沿轴向朝接近丝杠3的方向运动时，螺旋导线2的螺旋部21相应地缩回，螺旋导线2的螺旋部21在套管1实现位移动作时起到缓冲作用，保证了螺旋导线2在运动的过程中不被套管1运动中产生的作用力拉断，进而保证螺旋导线2当其自身保持传输电信号的功能不受影响，同时，螺旋导线2收纳在丝杠3和套管1的内部，充分利用了机构的内部空间，减小了机构的整体体积，同时降低了螺旋导线2与外部其他部件发生接触运动产生磨损的可能性。
上述说明示出并描述了本发明的若干优选实施例，但如前所述，应当理解本发明并非局限于本文所披露的形式，不应看作是对其他实施例的排
除，而可用于各种其他组合、修改和环境，并能够在本文所述发明构想范围内，通过上述教导或相关领域的技术或知识进行改动。而本领域人员所进行的改动和变化不脱离本发明的精神和范围，则都应在本发明所附权利要求的保护范围内。
本发明实施例中，位移传输机构包括：丝杠，螺旋导线，套管，套管套在丝杠外，螺旋导线包括类似弹簧形状的螺旋部以及直线状的直线部，分别位于套管和丝杠内，螺旋导线的两端通过第一部件和第二部件分别与套管和螺旋导线相连接，当套管相对于丝杠产生位移时，螺旋导线的螺旋部长度相应变化，同时螺旋导线保持自身传输信号的作用不受影响；如此，能够避免穿过动作机构内部的导线由于机构执行动作时产生拉断的情况，提升机体空间的利用率，保证信号传输与机构动作同时执行。
Claims (11)
- 一种位移传输机构，包括一个丝杠，至少一根螺旋导线，一根套管，所述套管至少有一部分套在所述丝杠外，所述套管的至少有一处与所述丝杠相连接，所述螺旋导线至少一部分呈螺旋状盘绕，所述螺旋导线至少一段位于所述丝杠内，所述螺旋导线至少有一段位于所述套管之内。
- 根据权利要求1所述的位移传输机构，其中，所述丝杠为一管状结构，所述丝杠的外表面从一端开始设置有螺纹，所述螺纹所在区域覆盖整个所述丝杠的至少一部分外表面，所述丝杠远离所述螺纹的另一端设置有传动结构。
- 根据权利要求2所述的位移传输机构，其中，所述丝杠一端设置的所述传动结构为键槽或键。
- 根据权利要求1所述的位移传输机构，其中，所述螺旋导线分为至少两部分，至少位于所述丝杠内的呈直线状的一段为直线部，位于所述丝杠外及所述套管内呈螺旋状盘绕的一段为螺旋部，所述螺旋导线的所述螺旋部能相对所述套管自由伸缩。
- 根据权利要求4所述的位移传输机构，其中，所述螺旋导线用于传输电信号和/或传输光信号。
- 根据权利要求1所述的位移传输机构，其中，所述套管至少有一段同轴地有间隙地套在所述丝杠外，所述套管上具有螺旋结构，所述螺旋结构与所述丝杠配合形成螺旋副。
- 根据权利要求6所述的位移传输机构，其中，所述套管上的所述螺旋结构设置在所述套管的一端。
- 根据权利要求6所述的位移传输机构，其中，所述套管上的所述螺旋结构为一个丝母，所述丝母与所述套管通过紧固件固定为一体，所述丝母与所述丝杠形成螺旋副。
- 根据权利要求6所述的位移传输机构，其中，所述螺旋副为螺纹丝杠副或滚珠丝杠副。
- 根据权利要求4所述的位移传输机构，其中，所述套管靠近所述螺旋导线的所述螺旋部的一端与一个第一部件无相对运动地连接，所述螺旋导线的一端也与所述第一部件固定连接，所述丝杠靠近所述螺旋导线的所述直线部的一端与所述旋转驱动装置相连接并能在所述旋转驱动装置驱动下进行旋转运动，所述螺旋导线远离所述螺旋部的一端穿过所述丝杠与一个第二部件固定连接。
- 一种智能机器人，包括权利要求1至10任一项所述的位移传输机构，还包括机体设备和控制设备，所述位移传输机构的所述螺旋导线两端分别与所述机体设备和所述控制设备相连接。
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109510105A (zh) * | 2018-11-21 | 2019-03-22 | 国网福建省电力有限公司泉州供电公司 | 输电线路导线等电位智能修补方法 |
| CN109687339A (zh) * | 2018-11-21 | 2019-04-26 | 国网福建省电力有限公司泉州供电公司 | 输电线路导线智能修补装置的绕丝装置 |
| CN112429548A (zh) * | 2020-12-11 | 2021-03-02 | 帝斯博（常州）医疗用品股份有限公司 | 口罩直线传输机构 |
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| CN205290970U (zh) * | 2015-11-12 | 2016-06-08 | 纳恩博（北京）科技有限公司 | 一种位移传输机构和智能机器人 |
| CN107088093B (zh) * | 2017-04-28 | 2023-09-22 | 深圳前海前沿生命科学应用有限公司 | 一种多级柔性曲管医疗机器人的模块化驱动装置 |
| CN107527431A (zh) * | 2017-08-23 | 2017-12-29 | 深圳趣盒信息科技有限公司 | 一种自动售卖装置 |
| CN107393156A (zh) * | 2017-08-23 | 2017-11-24 | 深圳趣盒信息科技有限公司 | 一种自动售卖装置 |
| CN111839592B (zh) * | 2020-08-13 | 2023-12-29 | 厦门市领汇医疗科技有限公司 | 一种前列腺检测装置 |
| CN112663693A (zh) * | 2021-01-12 | 2021-04-16 | 山西省交通科技研发有限公司 | 一种自平衡桩基静载试验传感导线的安装实施方法 |
| CN114391900B (zh) * | 2022-02-24 | 2024-03-29 | 上海微创医疗机器人（集团）股份有限公司 | 手术器械传动控制机构、手术器械传动装置及手术器械 |
| CN115085137B (zh) * | 2022-07-25 | 2023-08-18 | 中国商用飞机有限责任公司 | 运动电缆布线装置 |
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