WO2023284244A1 - 多级伸缩机械手、二级伸缩机械手及应用其的设备 - Google Patents

多级伸缩机械手、二级伸缩机械手及应用其的设备 Download PDF

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Publication number
WO2023284244A1
WO2023284244A1 PCT/CN2021/138000 CN2021138000W WO2023284244A1 WO 2023284244 A1 WO2023284244 A1 WO 2023284244A1 CN 2021138000 W CN2021138000 W CN 2021138000W WO 2023284244 A1 WO2023284244 A1 WO 2023284244A1
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WO
WIPO (PCT)
Prior art keywords
level
stage
hole
screw
telescopic
Prior art date
Application number
PCT/CN2021/138000
Other languages
English (en)
French (fr)
Inventor
李任生
郦野
金帆
Original Assignee
深圳先进技术研究院
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Filing date
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Application filed by 深圳先进技术研究院 filed Critical 深圳先进技术研究院
Publication of WO2023284244A1 publication Critical patent/WO2023284244A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic

Definitions

  • the invention relates to the field of manipulators, in particular to a multi-stage telescopic manipulator, a two-stage telescopic manipulator and equipment using the same.
  • Existing precision linear manipulators are basically driven by transmission mechanisms such as screw rods, racks and pinions, and synchronous belts.
  • the design length of the manipulator increases synchronously with the increase of the running length, that is, the manipulator is integral, which will result in a large footprint; and in In light-load applications, the single integrated transmission structure does not fully utilize the strength of the transmission components.
  • the existing technology generally has the following disadvantages: the structural design of multi-stage expansion and contraction cannot be carried out, and the maximum limit of the compression volume of the manipulator in the same movement stroke can only be half.
  • the object of the present invention is to provide a light-load precision multi-stage telescopic manipulator, a two-stage telescopic manipulator and equipment using them, which can reduce the volume of the multi-stage telescopic manipulator by more than half to solve the problem of excessive volume of the manipulator. Big question.
  • a multi-stage telescopic manipulator provided by the present invention includes: a motor, a shaft coupling, and a telescopic structure; ;
  • the first-stage telescopic structure is provided with a fixed structure and a first-stage floating plate, and the fixed structure includes a fixed plate and a fixed nut installed on the fixed plate;
  • the first-level telescopic structure includes a hollow first-level screw rod, a first-level floating plate, a hollow first-level polished rod and a first-level nut installed on the first-level floating plate;
  • the second-level telescopic structure includes a hollow second-level screw rod, The secondary floating plate, the hollow secondary polished rod and the secondary nut installed on the secondary floating plate; by analogy, the N-level telescopic structure includes the N-level screw rod, the N-level floating plate and the N-level polished rod;
  • the first through hole and the first polished rod hole are arranged on the first-level floating board, the second through hole and the second polished rod hole are arranged on the second-level floating board, and so on until the Nth through hole and the first polished rod hole are arranged on the N-level floating board.
  • One end of the primary screw goes through the screw through hole on the first floating plate to connect with the coupling, and the other end passes through the first through hole and the primary nut; one end of the secondary screw is installed in the primary screw , the other end passes through the second through hole and the second-level nut; and so on, one end of the N-level screw rod is installed in the N-1-level screw rod, and the other end passes through the N-th through hole; one end of the first-level polished rod is installed in the first One end of the second polished rod is installed in the first polished rod hole, and the other end is installed in the second polished rod hole; and so on, one end of the N grade polished rod is installed in the In the N-1 grade polished rod, the other end is installed in the Nth polished rod hole;
  • the first-level screw rod, the second-level screw rod, and so on until the N-level screw rod, the connected parts of each screw rod are connected by means of inner splines and outer splines or inner irregular holes and outer special-shaped holes;
  • the motor is connected to the coupling and drives the coupling to rotate.
  • the coupling drives the first-level screw to rotate, and the first-level screw drives the second-level screw to rotate, and so on until the N-1 screw drives the N-level screw Rotation;
  • the primary screw passes through the screw through hole on the fixed plate and the fixed nut;
  • the fixed nut drives the primary screw to perform telescopic movement, and finally drives the primary telescopic structure and the secondary telescopic structure to perform telescopic movement, and the primary nut Drive the secondary screw rod to perform telescopic movement, and finally drive the secondary telescopic structure and the secondary telescopic structure to perform telescopic movement, and so on until the N-1 level nut drives the N-level screw rod to perform telescopic movement.
  • first-level nuts, second-level nuts, and so on up to N-1 level nuts and fixed nuts are all screw nuts.
  • the multi-stage telescopic manipulator also includes a first bearing, a second bearing, and so on until the Nth bearing; the first bearing, the second bearing, and so on until the Nth bearing are respectively installed in the first through hole, the second through hole holes and so on to the Nth through hole;
  • the multi-stage telescopic manipulator also includes a first-stage bearing, and the first-stage bearing is installed in the screw through hole of the first-stage floating plate.
  • the multi-stage telescopic manipulator also includes a motor connection plate, one end of the motor connection plate is connected to the first stage floating plate, and the other end is connected to the motor.
  • the multi-stage telescopic manipulator also includes a shell, and the structure of the manipulator is located inside the shell when not working.
  • first-level polished rods, second-level polished rods, and so on up to N-level polished rods are each more than one, and the number of first polished rod holes, second polished rod holes and the number of N-th polished rod holes corresponds to the first-level polished rod settings , Level 2 polished rods and so on to the number of N level polished rods to set.
  • the multi-stage telescopic manipulator also includes an end connecting plate and a clamp, the end connecting plate is installed on the N-level floating plate, and the clamp is installed on the end connecting plate.
  • linear bearings are arranged in the first polished rod hole, the second polished rod hole and by analogy to the Nth polished rod hole.
  • first-level screw rod, the second-level screw rod, and the N-level screw rod by analogy are set as ball screws.
  • a device using a multi-stage telescopic manipulator comprising: a mechanical body and any one of the above-mentioned multi-stage telescopic manipulators, the multi-stage telescopic manipulator is installed on the mechanical body.
  • a two-stage telescopic manipulator comprising: a motor, a long drive axis, a primary telescopic structure, and a secondary telescopic structure;
  • the primary telescopic structure is provided with a fixed structure and a first-stage floating plate, and the fixed structure includes a fixed plate and a the fixing nut on the
  • the first-level telescopic structure includes a hollow first-level screw rod, a first-level floating plate, a hollow first-level polished rod and a first-level nut installed on the first-level floating plate;
  • the second-level telescopic structure includes a second-level screw rod, a second-level floating Plates and secondary polished rods;
  • the first through hole and the first polished rod hole are arranged on the first-level floating plate, and the second through-hole and the second polished rod hole are arranged on the second-level floating plate; one end of the first-level screw rod passes through the screw rod on the first-level floating plate
  • the through hole is connected with the driving long shaft, and the other end passes through the first through hole and the first-level nut;
  • One end of the secondary screw rod is installed in the primary screw rod, and the other end passes through the second through hole; one end of the primary polished rod is installed in the polished rod hole of the first floating plate, and the other end is installed in the first polished rod hole; One end of the polished rod is installed in the primary polished rod, and the other end is installed in the hole of the second polished rod;
  • the motor is connected to the long shaft of the drive and drives the long shaft to rotate.
  • the long shaft of the drive drives the first-level screw to rotate.
  • the long shaft drives the second-level screw to rotate synchronously with the first-level screw.
  • the fixed nut drives the first-level screw to rotate.
  • the telescopic movement finally drives the first-level telescopic structure and the first-level telescopic structure to perform telescopic movement, and the first-level nut drives the second-level screw to perform telescopic movement.
  • both the fixed nut and the primary nut are screw nuts.
  • the secondary manipulator also includes a first bearing and a second bearing structure, the first bearing is installed in the first through hole, and the second bearing is installed in the second through hole;
  • the multi-stage telescopic manipulator also includes a first-stage bearing, the first The first-stage bearing is installed in the through hole of the lead screw of the first-stage floating plate.
  • the manipulator also includes a motor connection plate, one end of the motor connection plate is connected to the first-stage floating plate, and the other end is connected to the motor.
  • the secondary manipulator also includes a casing, and when not working, the structure of the manipulator is located in the casing.
  • first-level polished rods and one or more second-level polished rods there are more than one first-level polished rods and one or more second-level polished rods, and the number of first polished rod holes and second polished rod holes corresponds to the number of first-level polished rods and second-level polished rods.
  • the secondary manipulator also includes an end connection plate and a clamp, the end connection plate is connected to the secondary floating plate, and the clamp is installed on the end connection plate;
  • linear bearings are arranged in the first polished rod hole and the second polished rod hole.
  • the primary screw rod and the secondary screw rod are set as ball screw rods.
  • a device using a two-stage telescopic manipulator comprising: a mechanical body and any one of the above-mentioned two-stage telescopic manipulators, the two-stage telescopic manipulator is installed on the mechanical body.
  • the multi-stage telescopic manipulator includes: a motor, a coupling, and a telescopic structure;
  • the telescopic structure includes a primary telescopic structure, a secondary telescopic structure and analogy N-level telescopic structure, where N is a positive integer greater than 2;
  • the first-level telescopic structure is provided with a fixed structure and a first-level floating plate, and the fixed structure includes a fixed plate and a fixing nut installed on the fixed plate; the first-level screw rod, the second-level Screw rods and so on until N-level screw rods, the connected parts of each level of screw rods are connected by means of inner splines and outer splines or inner different-row holes and outer special-shaped holes.
  • Fig. 1 is a structural diagram of a multi-stage telescopic manipulator of the present invention with a three-stage telescopic structure;
  • Fig. 2 is a cross-sectional structure diagram of a multi-stage telescopic manipulator of the present invention having a three-stage telescopic structure;
  • Fig. 3 is the structural diagram of the secondary telescopic manipulator of the present invention.
  • Fig. 4 is a sectional structure diagram of a secondary telescopic manipulator provided with a shell of the present invention
  • Fig. 5 is a cross-sectional structure diagram of the second-stage telescopic manipulator of the present invention.
  • the reference signs are: 1-motor, 2-coupling, 3-first-level telescopic structure, 301-first-level screw rod, 302-first-level polished rod, 303-first-level floating plate, 304-first-level nut, 4 -Secondary telescopic structure, 401-secondary screw, 402-secondary polished rod, 403-secondary floating plate, 404-secondary nut, 5-third-level telescopic structure, 501-third-level screw, 502-third-level Polished rod, 503-third-stage floating plate, 6-first-stage floating plate, 7-fixed plate, 8-fixed nut, 9-motor connecting plate, 10-housing, 11-end connecting plate, 12-fixture, 13-first stage Bearing, 14-the first bearing, 15-the second bearing, 16-the third bearing, 17-drive long shaft.
  • a telescopic manipulator includes: a motor 1, a shaft coupling 2, and a telescopic structure; the telescopic structure includes a primary telescopic structure 3, a secondary telescopic structure 4 and analogously to N-level telescopic structure, N is a positive integer greater than 2; the first-level telescopic structure 3 is provided with a fixed structure and a first-level floating plate 6, and the fixed structure includes a fixed plate 7 and a fixed nut 8 installed on the fixed plate 7;
  • the primary telescopic structure 3 comprises a hollow primary screw rod 301, a primary floating plate 303, a hollow primary polished rod 302 and a primary nut 304 installed on the primary floating plate 303;
  • the secondary telescopic structure 4 includes a A hollow secondary screw rod 401, a secondary floating plate 403, a hollow secondary polished rod 402 and a secondary nut 404 installed on the secondary floating plate 403; by analogy, the N-level telescopic structure includes N-level screw rods, N-level floating plate and N-level polished rod;
  • the first through hole and the first polished rod hole are arranged on the first-level floating plate 303, the second through-hole and the second polished rod hole are arranged on the second-level floating plate 403, and so on until the Nth through hole is arranged on the N-level floating plate and the Nth polished rod hole;
  • One end of the primary screw rod 301 passes through the screw through hole on the first stage floating plate 6 and is connected to the shaft coupling 2, and the other end passes through the first through hole and the primary nut 304; one end of the secondary screw rod 401 is installed on In the first-level screw rod 301, the other end passes through the second through hole and the second-level nut 404; by analogy, one end of the N-level screw rod is installed in the N-1-level screw rod, and the other end passes through the Nth through hole;
  • One end of the primary polished rod 302 is installed in the polished rod hole on the first stage floating plate 6, and the other end is installed in the first polished rod hole; one end of the secondary polished rod 402 is installed in the primary polished rod 302, and the other end is installed in the second polished rod hole ;
  • one end of the N-level polished rod is installed in the N-1 polished rod, and the other end is installed in the N-th polished rod hole;
  • the first-level screw 301, the second-level screw 401, and so on until the N-level screw, the connected parts of each level of screw are connected by means of inner splines and outer splines or inner irregular holes and outer special-shaped holes;
  • the motor 1 is connected to the coupling 2 and drives the coupling 2 to rotate.
  • the coupling 2 drives the first-level screw 301 to rotate, and the first-level screw 301 drives the second-level screw 401 to rotate, and so on until N-1 level
  • the screw drives the N-level screw to rotate; the first-level screw 301 passes through the screw through hole on the fixing plate 7 and the fixing nut 8; the fixing nut 8 drives the first-level screw 301 to perform telescopic movement, and finally drives the first-level telescopic structure 3
  • the first-level nut 304 drives the second-level screw rod 401 to perform telescopic movement, and finally drives the second-level telescopic structure 4 and the second-level or higher telescopic structure to perform telescopic movement, and so on until the N-1 level nut drives
  • the N-level screw rod does telescopic movement.
  • the telescopic structure includes a multi-stage telescopic structure, and the multi-stage telescopic structure includes a primary telescopic structure 3, a secondary telescopic structure 4, and analogously to a stage telescopic structure;
  • the telescopic structure of each stage includes a screw rod corresponding to the stage, Floating plate, hollow polished rod (N grade polished rod can be non-hollow) and nuts installed on the floating plate;
  • the primary telescopic structure 3 includes a hollow primary screw rod 301, a primary floating plate 303, a hollow primary polished rod 302 and a primary nut 304 installed on the primary floating plate 303.
  • the secondary telescopic structure 4 includes a Hollow secondary screw rod 401, secondary floating plate 403, hollow secondary polished rod 402 and secondary nut 404 installed on secondary floating plate 403;
  • N-level telescopic structure includes N-level screw rod, N-level Class floating plate and N class polished rod;
  • the screw rods of all levels and the polished rods of all levels are installed on the floating plates of the corresponding levels in sequence; one end of the first-level screw rod 301 is installed in the screw through hole of the first-level floating plate 6, and the other end is installed on the first-level floating plate 303.
  • one end of the secondary screw rod 401 is inserted into the primary screw rod 301, and the other end is inserted into the second through hole of the secondary floating plate 403; and so on until one end of the N-level screw rod is inserted into N-1 The other end is inserted into the Nth through hole of the N-level floating plate.
  • the rotation of the coupling 2 is driven by the motor 1, and the connected parts of the screw rods at all levels are connected by means of inner splines and outer splines or inner irregular holes and outer shaped holes, and the fixed nut 8 drives the first-level screw 301 Do telescopic movement, and finally drive the first-level telescopic structure 3 and above-level telescopic structures to perform telescopic movement, the first-level nut 304 drives the second-level screw rod 401 to perform telescopic movement, and finally drive the second-level telescopic structure 4 and above-level telescopic structures to perform telescopic movement Movement, and so on until the N-1 level nut drives the N-level screw to do telescopic movement; the settings of the polished rods at all levels provide support for the movement of the entire mechanical arm.
  • the multi-stage telescopic manipulator includes: a motor 1, a shaft coupling 2, and a telescopic structure;
  • the telescopic structure includes a primary telescopic structure 3 and a secondary telescopic structure 4 and by analogy to N-level telescopic structures, N is a positive integer greater than 2;
  • the first-level telescopic structure 3 is provided with a fixed structure and a first-level floating plate 6, and the fixed structure includes a fixed plate 7 and a fixed nut installed on the fixed plate 7 8.
  • the connecting parts of the rods are connected by means of inner splines and outer splines or inner irregular holes and outer special-shaped holes, which can drive the screw rod 301 of the next level to retract into the screw rod 301 of the upper level, so that the screw rods of each level are evenly spaced. It can be retracted into the primary screw rod 301 and the polished rods of all levels can be retracted into the primary polished rod 302, thereby reducing the volume of the manipulator by more than half.
  • the first-level nut 304, the second-level nut 404, and so on until the N-1 level nut and the fixed nut 8 are all screw nuts.
  • the screw nuts of each level are installed on the floating plate of the corresponding level; the nuts of the first-level screw rod 301 are installed on the first-level floating plate 303, the nuts of the second-level screw rod 401 are installed on the second-level floating plate 403, and the nuts of the third-level screw rod
  • the 501 nut is installed on the three-level floating plate 503, and so on until the N-1 level screw nut is installed on the N-1 level floating plate.
  • the screw nut of each stage drives the screw to perform telescopic movement; the fixed nut 8 is also set as a screw nut.
  • the multi-stage telescopic manipulator also includes the first bearing 14, the second bearing 15 and so on until the Nth bearing; the first bearing 14, the second bearing 15 and so on until the Nth bearing is installed in the first channel hole, the second through hole and so on to the Nth through hole; the multi-stage telescopic manipulator also includes a first stage bearing 13, and the first stage bearing 13 is installed in the screw rod through hole of the first stage floating plate 6. Bearings are arranged on the floating plates of each level, and the screw rods of each level pass through the bearings on the floating plates of this level.
  • the second bearing 15 is set on the 403, and so on until the Nth bearing is set on the N-level floating plate; one end of the first-level screw mandrel 301 passes through the first-level bearing 13, and the other end passes through the first-level bearing; the second-level screw mandrel 401 and sequentially
  • the N-level screw rod corresponds to the second bearing 15 that passes through the setting, and by analogy to the Nth bearing; the bearing plays the role of providing support and guidance.
  • the multi-stage telescopic manipulator further includes a motor connecting plate 9 , one end of which is connected to the first stage floating plate, and the other end is connected to the motor 1 .
  • a motor connecting plate 9 is arranged between the first-stage floating plate 6 and the motor 1 , and the motor connecting plate 9 plays a role of connecting the first-stage floating plate 6 and the motor 1 .
  • the multi-stage telescopic manipulator further includes a casing 10, and when not working, the structure of the manipulator is located inside the casing 10 (the casing 10 is not shown in the figure with a three-stage telescopic structure).
  • the casing 10 is provided, and the first-level telescopic structure 3 , the second-level telescopic structure 4 and the N-level telescopic structure by analogy are all inside the casing 10 when the manipulator is not performing telescopic movement.
  • the number of the first-level polished rod 302, the second-level polished rod 402, and so on until the number of N-level polished rods is more than one respectively, and the number of the first polished rod hole, the second polished rod hole, and so on until the Nth polished rod hole corresponds to one
  • the number of first-level polished rods 302, second-level polished rods 402, and so on to N-level polished rods is set.
  • the setting function of the polished rod includes guiding and supporting functions, so that the screw rod of each stage can smoothly perform telescopic movement, and the number of polished rods of each stage can be set according to needs; in this embodiment, two polished rods are set for each stage; That is, there are two polished rods from the first grade polished rod 302 and the second grade polished rod 402 to the N grade polished rod.
  • the multi-stage telescopic manipulator also includes an end connecting plate 11 and a clamp 12 (the end connecting plate 11 and clamp 12 are not shown in FIG. 2 ), the end connecting plate 11 is installed on the N-level floating plate, and the clamp 12 is installed on the Connecting board 11.
  • the clamp 12 can clamp objects at different distances during the stretching process; the end connecting plate 11 can be replaced with different types of clamps 12 .
  • linear bearings are arranged in the first polished rod hole, the second polished rod hole, and so on to the Nth polished rod hole.
  • Linear bearings are arranged in the first polished rod hole, the second polished rod hole, and the Nth polished rod hole by analogy, so as to improve the accuracy and efficiency of orientation.
  • the primary screw rod 301 , the secondary screw rod 401 and so on to the N-grade screw rod are set as ball screw rods.
  • the first-level screw 301, the second-level screw 401, and so on to the N-level screw are set to use the ball screw to improve the transmission accuracy and efficiency.
  • a tertiary telescopic structure 5 is set on the basis of the secondary telescopic structure 4, and the tertiary telescopic structure 5 includes a tertiary screw mandrel 501, a tertiary floating plate 503, a tertiary polished rod 502 and; one end of the tertiary screw mandrel 501 is installed In the secondary screw 401, the other end passes through the third through hole, the secondary screw 401 drives the tertiary screw 501 to rotate, the secondary nut 404 drives the tertiary screw 501 to perform telescopic movement; one end of the tertiary polished rod 502 It is installed in the secondary polished rod 402, and the other end is installed in the third polished rod hole; a four-stage telescopic structure is set on the three-stage floating plate 503, and by analogy to a four-stage telescopic structure, when a four-stage telescopic structure is set, then A tertiary nut
  • a third bearing 16 is provided in the third-stage floating plate.
  • the four-stage telescopic structure includes a four-stage screw rod, a four-stage floating plate, a four-stage polished rod and a four-stage nut installed on the fourth-stage floating plate.
  • the fourth-stage floating plate is provided with a fourth through hole and a fourth polished rod hole;
  • One end of the screw rod is installed in the third-level screw rod 501, and the other end passes through the fourth through hole and the fourth-level nut, and the third-level nut drives the fourth-level screw rod to perform telescopic movement;
  • one end of the fourth-level polished rod is installed in the third-level polished rod 502 , the other end is installed in the hole of the fourth polished rod;
  • N-level telescopic structure includes N-level screw rod, N-level floating plate and N-level polished rod.
  • the N-level floating plate is provided with the Nth through hole and the Nth polished rod hole; one end of the N-level screw rod is installed on the N-1-level screw rod The inner and other ends pass through the Nth through hole; the N-1-level nut drives the N-level screw to perform telescopic movement, one end of the N-level polished rod is installed in the N-1-level polished rod, and the other end passes through the N-th polished rod hole.
  • a five-stage telescopic structure is provided on a four-stage telescopic structure
  • a six-stage telescopic structure is provided on a five-stage telescopic structure
  • N-stage telescopic structures are arranged by analogy according to the above sequence and structural principles.
  • the screw rods of the telescopic structures in the present invention are set to be hollow, and the screw rods of the next level are inserted into the screw rods of the upper level, so that the manipulator can When working, the screw mandrel of the next level can be retracted into the screw mandrel of the upper level; for example, the second level screw mandrel 401 is retracted into the first level screw mandrel 301, and the third level screw mandrel 501 is retracted into the second level screw mandrel 401 , and so on until the N-level screw is inserted into the N-1 screw.
  • the first level, second level, ... N level in front of the screw rod represent the corresponding number of stages; for example, if the third level screw rod 501 appears in the present invention, it indicates that the present invention includes The first-level screw mandrel 301, the second-level screw mandrel 401 and the third-level screw mandrel 501; if there is a six-level telescopic structure, it shows that the six-level telescopic structure of the present invention includes a first-level to five-level telescopic structure in front of the six-level telescopic structure, which indicates that the present invention
  • the front of the six-level screw rod includes the first to fifth level screw rods, and the telescopic structure of each level can be equipped with corresponding screw rods, polished rods, floating plates and nuts installed on the floating plates; for example,
  • the four-stage telescopic structure is equipped with four-stage screw rods, four-stage floating plates and four-stage polished rods.
  • N-level screw rods indicate that the present invention is provided with N-level telescopic structures, and the present invention includes N-level telescopic structures, and the N-level telescopic structures include N-level floating plates, N-level screw rods, and N-level polished rods.
  • the present invention when the present invention is provided with a six-stage telescopic structure, it means that five telescopic structures are set in front of the six-stage telescopic structure, including one-stage, two-stage, three-stage, four-stage and five-stage telescopic structures.
  • Bearings are arranged in the first, second, third, fourth and fifth through holes corresponding to the second, third, fourth and fifth telescopic structures; the first, second, third, fourth and fifth wires
  • the rods are correspondingly inserted into the first, second, third, fourth and fifth bearings.
  • the present invention indicates that there are N telescopic structures, including the first-level telescopic structure 3, the second telescopic structure, ..., the N-1-level telescopic structure, and the N-level telescopic structure; the first bearing is set correspondingly 14.
  • the second bearing 15, ..., N-1 bearing and the Nth bearing, and the bearings of each level are correspondingly installed in the floating plates of each level.
  • the third-level screw 501, the fourth-level screw, the fifth-level screw and the sixth-level screw, and so on, the parts connected to the N-level screw adopt internal spline sleeves and external splines or internal different-row hole sleeves
  • the connection mode of the outer special-shaped hole makes the three-stage screw rod 501, the four-stage screw rod, the fifth-stage screw rod, the sixth-stage screw rod and the N-stage screw rod rotate synchronously.
  • the existing technology generally has the following disadvantages: the structural design of multi-stage expansion and contraction cannot be carried out, and the maximum limit of the compression volume of the manipulator in the same movement stroke can only be half.
  • This application uses motor 1, coupling 2, first-level telescopic structure 3, second-level telescopic structure 4, third-level telescopic structure 5, and so on to the setting of N telescopic structure, so that when the manipulator is not working, the second-level screw rod 401, the three-stage screw rod 501, and so on until the N-stage screw rod is compressed in the first-stage screw rod 301, so that the volume of the manipulator can be compressed by more than half.
  • a device using a multi-stage telescopic manipulator comprising: a mechanical body and the multi-stage telescopic manipulator according to any one of claims 1-9, the multi-stage telescopic manipulator is installed on the mechanical body.
  • the multi-stage telescopic manipulator of the present application is applied to mechanical equipment, and the mechanical equipment includes a mechanical body; the multi-stage telescopic manipulator is installed on the mechanical body, so that the equipment can use the manipulator to telescopically pick up items at a longer distance.
  • a two-stage telescopic manipulator comprising: a motor 1, a drive shaft 17, a primary telescopic structure 3 and a secondary telescopic structure 4; a fixed structure and a first-stage floating plate 6 are arranged on the primary telescopic structure 3, and the fixed structure includes Plate 7 and fixed nut 8 installed on the fixed plate 7;
  • the primary telescopic structure 3 comprises a hollow primary screw rod 301, a primary floating plate 303, a hollow primary polished rod 302 and a primary nut 304 installed on the primary floating plate 303, and the secondary telescopic structure 4 includes two Level screw rod 401, level two floating plate 403 and level two polished rod 402;
  • the primary floating plate 303 is provided with a first through hole and a first polished rod hole
  • the secondary floating plate 403 is provided with a second through hole and a second polished rod hole; one end of the primary screw rod 301 passes through the primary floating plate 6
  • the through hole of the screw rod on the top is connected with the long driving shaft 17, and the other end passes through the first through hole and the primary nut 304;
  • One end of the secondary screw rod 401 is installed in the primary screw rod 301, and the other end passes through the second through hole;
  • one end of the primary polished rod 302 is installed in the polished rod hole of the first floating plate 6, and the other end is installed in the first polished rod hole;
  • one end of the secondary polished rod 402 is installed in the primary polished rod 302, and the other end is installed in the second polished rod hole;
  • the motor 1 is connected to the long drive shaft 17 and drives the long drive shaft 17 to rotate.
  • the long drive shaft 17 drives the primary screw rod 301 to rotate, and at the same time, the long drive shaft 17 drives the secondary screw rod 401 to rotate synchronously with the primary screw rod 301.
  • the fixed nut 8 drives the first-level screw rod 301 to perform telescopic movement, and finally drives the first-level telescopic structure 3 and above-level telescopic structures to perform telescopic movement, and the first-level nut 304 drives the second-level screw rod 401 to perform telescopic movement.
  • the telescopic manipulator includes: a motor 1, a drive shaft 17, a primary telescopic structure 3 and a secondary telescopic structure 4;
  • the primary telescopic structure 3 is provided with a fixed structure and a first Level floating plate 6,
  • the fixed structure includes a fixed plate 7 and a fixed nut 8 installed on the fixed plate 7.
  • the primary screw rod 301 and the primary polished rod 302 can be carried out correspondingly in the secondary screw rod 401 and the secondary polished rod 402.
  • the telescopic movement compresses the volume of the manipulator; the primary telescopic structure 3 and the secondary telescopic structure 4 of the manipulator adopt an overlapping slide rail structure, and the horizontal line of compression and folding is on a line, which greatly compresses the volume occupancy rate and reduces the entire manipulator.
  • the telescopic manipulator can be applied to application scenarios where light loads and high depths are also applicable.
  • both the fixed nut 8 and the primary nut 304 are screw nuts.
  • the screw nuts of each level are installed on the floating plate of the corresponding level; the nuts of the first level screw rod 301 are installed on the first level floating plate 303 , and the nuts of the second level screw rod 401 are installed on the second level floating plate 403 .
  • the screw nut of each stage drives the screw to perform telescopic movement; the fixed nut 8 is also set as a screw nut.
  • the secondary manipulator also includes a first bearing 14 and a second bearing 15 structure, the first bearing 14 is installed in the first through hole, and the second bearing 15 is installed in the second through hole;
  • the multi-stage telescopic manipulator also includes The first stage bearing 13, the first stage bearing 13 is installed in the through hole of the screw rod of the first stage floating plate 6. Bearings are arranged on the floating plates of each level, and the screw rods of each level pass through the bearings on the floating plates of this level.
  • the second bearing 15 is set on the 403; one end of the first-level screw mandrel 301 passes through the first-level bearing 13, and the other end passes through the first-level bearing; the second-level screw mandrel 401 passes through the second bearing 15 provided; the bearing plays a role in providing support and guiding role.
  • the manipulator further includes a motor connection plate 9 , one end of the motor connection plate 9 is connected to the first-stage floating plate 6 , and the other end is connected to the motor 1 .
  • a motor connecting plate 9 is arranged between the first-stage floating plate 6 and the motor 1 , and the motor connecting plate 9 plays a role of connecting the first-stage floating plate 6 and the motor 1 .
  • the secondary manipulator further includes a housing 10 , and the structures of the manipulator are located in the housing 10 when not working.
  • the casing 10 is provided, and the first-level telescopic structure 3 , the second-level telescopic structure 4 and the N-level telescopic structure by analogy are all inside the casing 10 when the manipulator is not performing telescopic movement.
  • the number of first polished rod holes and second polished rod holes corresponds to the number of primary polished rods 302 and secondary polished rods 402 .
  • the setting function of the polished rod includes guiding and supporting functions, so that the screw rod of each stage can smoothly perform telescopic movement, and the number of polished rods of each stage can be set according to needs; in this embodiment, two polished rods are set for each stage; That is, there are two primary polished rods 302 and two secondary polished rods 402 .
  • the secondary manipulator also includes an end connection plate 11 and a clamp 12, the end connection plate 11 is connected to the secondary floating plate 403, and the clamp 12 is installed on the end connection plate 11; the terminal connection is installed on the secondary floating plate 403 Plate 11, the secondary floating plate 403 is the floating plate of the last stage, i.e. the tail stage floating plate; on the end connecting plate 11, the clamp 12 for clamping the article is installed; after the motor 1 starts, the Telescopic movement, so that the gripper 12 grips objects at different distances during the stretching process; different types of grippers 12 can be installed on the end connecting plate 11 instead.
  • linear bearings are arranged in the first polished rod hole and the second polished rod hole.
  • Linear bearings are arranged in the first polished rod hole and the second polished rod hole to improve orientation accuracy and efficiency.
  • the primary screw 301 and the secondary screw 401 are configured as ball screws.
  • the primary screw rod 301 and the secondary screw rod 401 are set to use ball screw rods to improve the precision and efficiency of transmission.
  • the structure design of the existing manipulator is mainly used in the heavy-duty scene, and its folded horizontal line is not in a line, and the non-overlapping slide rail structure is adopted, and its structure is thick and heavy, so it cannot be applied to the miniature light-load scene.
  • the secondary screw rod 401 and the secondary polished rod 402 are correspondingly compressed on the primary screw rod 301 and Inside the first-level polished rod 302, the volume of the manipulator can be compressed; the first-level telescopic structure 3 and the second-level telescopic structure 4 of the manipulator adopt an overlapping slide rail structure, and the horizontal lines of the compression and folding are on the same line, which greatly compresses the volume occupancy rate and reduces
  • the weight of the entire manipulator finally enables the telescopic manipulator to be used in application scenarios where light loads and high depths are also applicable.
  • a device using a two-stage telescopic manipulator comprising: a mechanical body and the two-stage telescopic manipulator according to any one of claims 11-19, the two-stage telescopic manipulator is installed on the mechanical body.
  • the two-stage telescopic manipulator of the present application is applied to mechanical equipment, and the mechanical equipment includes a mechanical body; the multi-stage telescopic manipulator is installed on the mechanical body so that the equipment can use the manipulator to telescopically pick up objects.

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Abstract

一种多级伸缩机械手、二级伸缩机械手及应用其的设备，多级伸缩机械手包括：电机（1）、联轴器（2）、及伸缩结构；一级丝杆（301）、二级丝杆（401）及依次类推直至N级丝杆中，每级丝杆相连接的部分采用内花键套外花键或内异形孔套外异形孔的方式连接；将一级光杆（302）、二级光杆（402）直至类推至N级光杆按照下一级光杆插入上一级光杆内的方式进行安装；当电机（1）驱动带动联轴器（2）时，由于各级丝杆相连接的部分采用内花键套外花键或内异形孔套外异形孔的方式连接，能够带动下一级丝杆缩入上一级丝杆内，使得各级丝杆均能够缩入一级丝杆（301）内及使得各级光杆均能够缩入一级光杆（302）内，进而使机械手的体积得以压缩一半以上。

Description

多级伸缩机械手、二级伸缩机械手及应用其的设备 技术领域
本发明涉及机械手领域，具体而言，涉及一种多级伸缩机械手、二级伸缩机械手及应用其的设备。
 背景技术
现有的精密的直线机械手基本采用丝杆、齿轮齿条、同步带等传动机构进行驱动，其机械手设计长度随运行长度增加同步增加即机械手为整体式，这样会导致占用空间较大；且在轻载的运用中，单一一体的传动结构对传动部件强度的利用也不够充分。
现有技术的一般主要有以下缺点：无法进行多级伸缩的结构设计，机械手在相同运动行程中，压缩体积最大极限只能为一半。
 技术问题
为解决上述问题，本发明的目的在于提供一种轻载的精密的多级伸缩机械手、二级伸缩机械手及应用其的设备，能够使得多级伸缩机械手的体积压缩一半以上，以解决机械手体积过大的问题。
 技术解决方案
本发明提供的一种多级伸缩机械手，包括：电机、联轴器、及伸缩结构；伸缩结构包括一级伸缩结构、二级伸缩结构及类推至N级伸缩结构，N为大于2的正整数；一级伸缩结构上设置有固定结构及首级浮动板，固定结构包括固定板及安装在固定板上的固定螺母；
一级伸缩结构包括呈空心的一级丝杆、一级浮动板、呈空心的一级光杆及安装在一级浮动板上的一级螺母；二级伸缩结构包括呈空心的二级丝杆、二级浮动板、呈空心的二级光杆及安装在二级浮动板上的二级螺母；依次类推至，N级伸缩结构包括N级丝杆、N级浮动板及N级光杆；
一级浮动板上设置有第一通孔和第一光杆孔，二级浮动板上设置有第二通孔和第二光杆孔，依次类推至N级浮动板上设置有第N通孔和第N光杆孔；
一级丝杆的一端穿过首级浮动板上的丝杆通孔与联轴器连接，另一端穿过第一通孔和一级螺母；二级丝杆的一端安装在一级丝杆内，另一端穿过第二通孔和二级螺母；依次类推，N级丝杆的一端安装在N-1级丝杆内，另一端穿过第N通孔；一级光杆的一端安装在首级浮动板上的光杆孔内，另一端安装在第一光杆孔；二级光杆的一端安装在一级光杆内，另一端安装在第二光杆孔内；依次类推，N级光杆的一端安装在N-1级光杆内，另一端安装在第N光杆孔内；
一级丝杆、二级丝杆及依次类推直至N级丝杆中，每级丝杆相连接的部分采用内花键套外花键或内异行孔套外异形孔的方式连接；
电机与联轴器连接、并带动联轴器旋转，联轴器带动一级丝杆旋转，同时一级丝杆带动二级丝杆旋转，依次类推直至N-1级丝杆带动N级丝杆旋转；一级丝杆穿过固定板上的丝杆通孔和固定螺母；固定螺母带动一级丝杆做伸缩运动，最终带动一级伸缩结构及二级以上伸缩结构进行伸缩运动，一级螺母带动二级丝杆做伸缩运动，最终带动二级伸缩结构及二级以上伸缩结构进行伸缩运动，依次类推至N-1级螺母带动N级丝杆做伸缩运动。
进一步地，一级螺母、二级螺母、依次类推直至N-1级螺母及固定螺母，均为丝杆螺母。
进一步地，多级伸缩机械手还包括第一轴承、第二轴承及依次类推直至第N轴承；第一轴承、第二轴承及依次类推直至第N轴承依次对应安装在第一通孔、第二通孔及依次类推至第N通孔内；
多级伸缩机械手还包括首级轴承，首级轴承安装在首级浮动板的丝杆通孔内。
进一步地，多级伸缩机械手还包括电机连接板，电机连接板的一端与首级级浮动板连接、另一端与电机连接。
进一步地，多级伸缩机械手还包括外壳，在不进行工作时，机械手的结构均位于外壳内。
进一步地，一级光杆、二级光杆及依次类推直至N级光杆的数量分别各为一根以上，第一光杆孔、第二光杆孔及依次类推至第N光杆孔的数量对应一级光杆设置、二级光杆及依次类推至N级光杆的数量进行设置。
进一步地，多级伸缩机械手还包括末端连接板及夹具，末端连接板安装在的N级浮动板上，夹具安装在末端连接板上。
进一步地，第一光杆孔、第二光杆孔及依次类推至第N光杆孔内设置有直线轴承。
进一步地，一级丝杆、二级丝杆及依次类推至N级丝杆设置为滚珠丝杆。
一种应用多级伸缩机械手的设备，包括：机械本体及上述中任意一项的多级伸缩机械手，多级伸缩机械手安装在机械本体上。
一种二级伸缩机械手，包括：电机、驱动长轴、一级伸缩结构及二级伸缩结构；一级伸缩结构上设置有固定结构及首级浮动板，固定结构包括固定板及安装在固定板上的固定螺母；
一级伸缩结构包括呈空心的一级丝杆、一级浮动板、呈空心的一级光杆及安装在一级浮动板上的一级螺母，二级伸缩结构包括二级丝杆、二级浮动板及二级光杆；
一级浮动板上设置有第一通孔和第一光杆孔，二级浮动板上设置有第二通孔和第二光杆孔；一级丝杆的一端穿过首级浮动板上的丝杆通孔与驱动长轴连接，另一端穿过第一通孔和一级螺母；
二级丝杆的一端安装在一级丝杆内，另一端穿过第二通孔；一级光杆的一端安装在首级浮动板的光杆孔内，另一端安装在第一光杆孔；二级光杆的一端安装在一级光杆内，另一端安装在第二光杆孔内；
电机与驱动长轴连接、并带动驱动长轴旋转，驱动长轴带动一级丝杆旋转，同时驱动长轴带动二级丝杆旋转与一级丝杆同步旋转，固定螺母带动一级丝杆做伸缩运动，最终带动一级伸缩结构及一级以上伸缩结构进行伸缩运动，一级螺母带动二级丝杆做伸缩运动。
进一步地，固定螺母及一级螺母均为丝杆螺母。
进一步地，二级机械手还包括第一轴承和第二轴承结构，第一轴承安装在第一通孔内，第二轴承安装在第二通孔内；多级伸缩机械手还包括首级轴承，首级轴承安装在首级浮动板的丝杆通孔内。
进一步地，机械手还包括电机连接板，电机连接板的一端与首级浮动板连接、另一端与电机连接。
进一步地，二级机械手还包括外壳，在不进行工作时，机械手的结构均位于外壳内。
进一步地，一级光杆和二级光杆分别各为一根以上，第一光杆孔及第二光杆孔的数量对应一级光杆设置及二级光杆的数量设置。
进一步地，二级机械手还包括末端连接板及夹具，末端连接板与的二级浮动板连接，夹具安装在末端连接板上；
进一步地，第一光杆孔和第二光杆孔内设置有直线轴承。
进一步地，一级丝杆及二级丝杆设置为滚珠丝杆。
一种应用二级伸缩机械手的设备，包括：机械本体及上述中任意一项的二级伸缩机械手，二级伸缩机械手安装在机械本体上。
 有益效果
本发明的多级伸缩机械手、二级伸缩机械手及应用其的设备中，多级伸缩机械手包括：电机、联轴器、及伸缩结构；伸缩结构包括一级伸缩结构、二级伸缩结构及类推至N级伸缩结构，N为大于2的正整数；一级伸缩结构上设置有固定结构及首级浮动板，固定结构包括固定板及安装在固定板上的固定螺母；一级丝杆、二级丝杆及依次类推直至N级丝杆中，每级丝杆相连接的部分采用内花键套外花键或内异行孔套外异形孔的方式连接。将一级光杆、二级光杆直至类推至N级光杆按照下一级丝杆插入上一级光杆内的方式进行安装；当电机驱动带动联轴器时，由于各级丝杆相连接的部分采用内花键套外花键或内异行孔套外异形孔的方式连接，能够带动下一级丝杆缩入上一级丝杆内，使得各级丝杆均能够缩入一级丝杆内及使得各级光杆均能够缩入一级光杆内，进而使机械手的体积得以压缩一半以上。
 附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是本发明多级伸缩机械手的具有三级伸缩结构的结构图；
图2是本发明多级伸缩机械手的具有三级伸缩结构的剖视结构图；
图3是本发明二级伸缩机械手的结构图；
图4是本发明二级伸缩机械手设置有外壳的剖视结构图；
图5是本发明二级伸缩机械手的剖视结构图；
其中附图标记为：1-电机、2-联轴器、3-一级伸缩结构、301-一级丝杆、302-一级光杆、303-一级浮动板、304-一级螺母、4-二级伸缩结构、401-二级丝杆、402-二级光杆、403-二级浮动板、404-二级螺母、5-三级伸缩结构、501-三级丝杆、502-三级光杆、503-三级浮动板、6-首级浮动板、7-固定板、8-固定螺母、9-电机连接板、10-外壳、11-末端连接板、12-夹具、13-首级轴承、14-第一轴承、15-第二轴承、16-第三轴承、17-驱动长轴。
 本发明的实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
实施例1
如图1至图5所示，本发明实施例的一种伸缩机械手，包括：电机1、联轴器2、及伸缩结构；伸缩结构包括一级伸缩结构3、二级伸缩结构4及类推至N级伸缩结构，N为大于2的正整数；一级伸缩结构3上设置有固定结构及首级浮动板6，固定结构包括固定板7及安装在固定板7上的固定螺母8；
一级伸缩结构3包括呈空心的一级丝杆301、一级浮动板303、呈空心的一级光杆302及安装在一级浮动板303上的一级螺母304；二级伸缩结构4包括呈空心的二级丝杆401、二级浮动板403、呈空心的二级光杆402及安装在二级浮动板403上的二级螺母404；依次类推至，N级伸缩结构包括N级丝杆、N级浮动板及N级光杆；
一级浮动板303上设置有第一通孔和第一光杆孔，二级浮动板403上设置有第二通孔和第二光杆孔，依次类推至N级浮动板上设置有第N通孔和第N光杆孔；
一级丝杆301的一端穿过首级浮动板6上的丝杆通孔与联轴器2连接，另一端穿过第一通孔和一级螺母304；二级丝杆401的一端安装在一级丝杆301内，另一端穿过第二通孔和二级螺母404；依次类推，N级丝杆的一端安装在N-1级丝杆内，另一端穿过第N通孔；一级光杆302的一端安装在首级浮动板6上的光杆孔内，另一端安装在第一光杆孔；二级光杆402的一端安装在一级光杆302内，另一端安装在第二光杆孔内；依次类推，N级光杆的一端安装在N-1级光杆内，另一端安装在第N光杆孔内；
一级丝杆301、二级丝杆401及依次类推直至N级丝杆中，每级丝杆相连接的部分采用内花键套外花键或内异行孔套外异形孔的方式连接；
电机1与联轴器2连接、并带动联轴器2旋转，联轴器2带动一级丝杆301旋转，同时一级丝杆301带动二级丝杆401旋转，依次类推直至N-1级丝杆带动N级丝杆旋转；一级丝杆301穿过固定板7上的丝杆通孔和固定螺母8；固定螺母8带动一级丝杆301做伸缩运动，最终带动一级伸缩结构3及二级以上伸缩结构进行伸缩运动，一级螺母304带动二级丝杆401做伸缩运动，最终带动二级伸缩结构4及二级以上伸缩结构进行伸缩运动，依次类推至N-1级螺母带动N级丝杆做伸缩运动。
实施例中，伸缩结构包括多级伸缩结构，多级伸缩结构包括一级伸缩结构3、二级伸缩结构4及类推至级伸缩结构；每一级的伸缩结构均包括该级对应的丝杆、浮动板、呈空心的光杆（N级光杆可以为非空心）及安装在浮动板上的螺母；
一级伸缩结构3包括呈空心的一级丝杆301、一级浮动板303、呈空心的一级光杆302及安装在一级浮动板303上的一级螺母304，二级伸缩结构4包括呈空心的二级丝杆401、二级浮动板403、呈空心的二级光杆402及安装在二级浮动板403上的二级螺母404；依次类推为N级伸缩结构包括N级丝杆、N级浮动板及N级光杆；
一级丝杆301、二级丝杆401及依次类推直至N级丝杆按照下一级丝杆301插入上一级丝杆301内的方式进行安装；一级光杆302、二级光杆402及依次类推直至N级光杆按照下一级光杆302插入上一级光杆302内的方式进行安装；
各级丝杆和各级光杆依次安装在对应级的浮动板上；一级丝杆301的一端安装在首级浮动板6的丝杆通孔内，另一端安装在一级浮动板303上的第一通孔内；二级丝杆401的一端插入一级丝杆301内，另一端插入二级浮动板403的第二通孔内；依次类推，直至N级丝杆的一端插入N-1级丝杆内，另一端插入N级浮动板的第N通孔内。
通过电机1带动联轴器2的转动，以及各级丝杆相连接的部分采用内花键套外花键或内异行孔套外异形孔的方式连接，固定螺母8带动一级丝杆301做伸缩运动，最终带动一级伸缩结构3及二级以上伸缩结构进行伸缩运动，一级螺母304带动二级丝杆401做伸缩运动，最终带动二级伸缩结构4及二级以上伸缩结构进行伸缩运动，依次类推至N-1级螺母带动N级丝杆做伸缩运动；各级光杆的设置给整个机械臂的运动提供支撑力。
本发明的多级伸缩机械手、二级伸缩机械手及应用其的设备中，多级伸缩机械手包括：电机1、联轴器2、及伸缩结构；伸缩结构包括一级伸缩结构3、二级伸缩结构4及类推至N级伸缩结构，N为大于2的正整数；一级伸缩结构3上设置有固定结构及首级浮动板6，固定结构包括固定板7及安装在固定板7上的固定螺母8；一级丝杆301、二级丝杆401及依次类推直至N级丝杆中，每级丝杆相连接的部分采用内花键套外花键或内异行孔套外异形孔的方式连接。将一级光杆302、二级光杆402直至类推至N级光杆按照下一级丝杆301插入上一级光杆302内的方式进行安装；当电机1驱动带动联轴器2时，由于各级丝杆相连接的部分采用内花键套外花键或内异行孔套外异形孔的方式连接，能够带动下一级丝杆301缩入上一级丝杆301内，使得各级丝杆均能够缩入一级丝杆301内及使得各级光杆均能够缩入一级光杆302内，进而使机械手的体积得以压缩一半以上。
实施例中，一级螺母304、二级螺母404、依次类推直至N-1级螺母及固定螺母8，均为丝杆螺母。各级的丝杆螺母均安装在对应级的浮动板上；一级丝杆301螺母安装在一级浮动板303上，二级丝杆401螺母安装在二级浮动板403上，三级丝杆501螺母安装在三级浮动板503上，依次类推至N-1级丝杆螺母安装在N-1级浮动板上。通过每一级的丝杆螺母带动丝杆进行伸缩运动；固定螺母8也设置为丝杆螺母。
实施例中，多级伸缩机械手还包括第一轴承14、第二轴承15及依次类推直至第N轴承；第一轴承14、第二轴承15及依次类推直至第N轴承依次对应安装在第一通孔、第二通孔及依次类推至第N通孔内；多级伸缩机械手还包括首级轴承13，首级轴承13安装在首级浮动板6的丝杆通孔内。在各级浮动板上设置轴承，各级丝杆穿过本级浮动板上的轴承，轴承为丝杆提供支撑力和导向；在一级浮动板303上设置第一轴承14，二级浮动板403上设置第二轴承15，依次类推直至N级浮动板上设置第N轴承；一级丝杆301的一端穿过首级轴承13，另一端穿过一级轴承；二级丝杆401及依次类推至N级丝杆对应穿过设置的第二轴承15及依次类推至第N轴承；轴承起到提供支撑和导向的作用。
实施例中，多级伸缩机械手还包括电机连接板9，电机连接板9的一端与首级级浮动板连接、另一端与电机1连接。在首级浮动板6和电机1之间设置电机连接板9，电机连接板9起到连接首级浮动板6和电机1的作用。
实施例中，多级伸缩机械手还包括外壳10，在不进行工作时，机械手的结构均位于外壳10内（具有三级伸缩结构的图中未显示外壳10）。设置外壳10，一级伸缩结构3、二级伸缩结构4及类推至N级伸缩结构在机械手不进行伸缩运动时均为于该外壳10内。
实施例中，一级光杆302、二级光杆402及依次类推直至N级光杆的数量分别各为一根以上，第一光杆孔、第二光杆孔及依次类推至第N光杆孔的数量对应一级光杆302设置、二级光杆402及依次类推至N级光杆的数量进行设置。光杆的设置作用包括起到导向和支撑作用，使得每级丝杆能够顺利的进行伸缩运动，每级光杆的数量可根据需要进行设置；本实施例中，将每级的光杆设置为两根；即，一级光杆302、二级光杆402依次类推至N级光杆均设置为两根。
实施例中，多级伸缩机械手还包括末端连接板11及夹具12（图2中未显示末端连接板11及夹具12），末端连接板11安装在的N级浮动板上，夹具12安装在末端连接板11上。在N级浮动板上安装末端连接板11，N级浮动板为最后一级的浮动板，即尾级浮动板；在末端连接板11上安装用于夹取物品的夹具12；当电机1启动后，通过多级丝杆的伸缩运动，以使得夹具12在伸缩过程中夹取不同距离的物品；末端连接板11上可以换取安装不同类型的夹具12。
实施例中，第一光杆孔、第二光杆孔及依次类推至第N光杆孔内设置有直线轴承。在第一光杆孔、第二光杆孔及依次类推至第N光杆孔内设置直线轴承，以提高定向的精度及效率。
实施例中，一级丝杆301、二级丝杆401及依次类推至N级丝杆设置为滚珠丝杆。将一级丝杆301、二级丝杆401及依次类推至N级丝杆设置为以滚珠丝杆提高传动的精度及效率。
以下为多级伸缩机械手设置为三级以上伸缩结构的实施例：
进一步地，二级伸缩结构4的基础上设置三级伸缩结构5，三级伸缩结构5包括三级丝杆501、三级浮动板503、三级光杆502及；三级丝杆501的一端安装在二级丝杆401内，另一端穿过第三通孔，二级丝杆401带动三级丝杆501旋转，二级螺母404带动三级丝杆501做伸缩运动；三级光杆502的一端安装在二级光杆402内，另一端安装在第三光杆孔内；在三级浮动板503上设置四级伸缩结构及类推至四级以上的级伸缩结构，当设置四级伸缩结构时，则在三级浮动板503上设置三级螺母；
进一步地，在三级浮动板内设置有第三轴承16。
四级伸缩结构包括四级丝杆、四级浮动板、四级光杆及安装在四级浮动板上的四级螺母，四级浮动板上设置有第四通孔和第四光杆孔；四级丝杆的一端安装在三级丝杆501内，另一端穿过第四通孔和四级螺母，三级螺母带动四级丝杆做伸缩运动；四级光杆的一端安装在三级光杆502内，另一端安装在第四光杆孔内；
N级伸缩结构包括N级丝杆、N级浮动板及N级光杆，N级浮动板上设置有第N通孔和第N光杆孔；N级丝杆的一端安装在N-1级丝杆内、另一端穿过第N通孔；N-1级螺母带动N级丝杆做伸缩运动，N级光杆的一端安装在N-1级光杆内，另一端穿过第N光杆孔。
进一步地，在四级伸缩结构上设置五级伸缩结构、在五级伸缩结构上设置六级伸缩结构，依照上述顺序及结构原理依次类推设置至N级伸缩结构。
设置更多级的伸缩结构，伸缩结构会占据更多体积；本发明中的伸缩结构的丝杆设置为空心状，下一级的丝杆插入在上一级的丝杆内，使得机械手在不工作时，下一级的丝杆能够缩到上一级的丝杆内；例如，二级丝杆401缩入到一级丝杆301内，三级丝杆501缩到二级丝杆401内，以次类推至N级丝杆插入到N-1级丝杆内。
需要说明的是，本实施例中，丝杆前面的一级、二级、...N级表示对应的级数；例如，如果本发明中出现三级丝杆501，则表明本发明包括了一级丝杆301、二级丝杆401及三级丝杆501；若出现六级伸缩结构，则表明本发明的六级伸缩结构前面包括了一级到五级的伸缩结构，则表明本发明的六级丝杆前面包括了一级到五级的各级丝杆，并且每一级的伸缩结构均可以设置对应级的丝杆、光杆、浮动板及安装在浮动板上的螺母；例如，四级伸缩结构配套有四级丝杆、四级浮动板及四级光杆。
N级丝杆，则说明本发明设置有N级伸缩结构，本发明包括了N个伸缩结构，N级伸缩结构包括N级浮动板、N级丝杆及N级光杆。
进一步地，当本发明设置有六级伸缩结构时，则表示六级伸缩结构前面设置了五个伸缩结构，包括一级、二级、三级、四级和五级伸缩结构，在一级、二级、三级、四级和五级伸缩结构对应的第一、第二、第三、第四和第五通孔内设置轴承；一级、二级、三级、四级和五级丝杆对应的插入第一、第二、第三、第四和第五轴承内。
当设置N级伸缩结构时，则本发明表示有N个伸缩结构，包括一级伸缩结构3、二伸缩结构、...、N-1级伸缩结构、N级伸缩结构；对应设置第一轴承14、第二轴承15、...、N-1轴承和第N轴承，且各级轴承对应安装在各级的浮动板内。
进一步地，三级丝杆501、四级丝杆、五级丝杆及六级丝杆、以此类推至N级丝杆相连接的部分采用内花键套外花键或内异行孔套外异形孔的连接方式，使得三级丝杆501、四级丝杆、五级丝杆、六级丝杆及类推N级丝杆进行同步旋转。
现有技术的一般主要有以下缺点：无法进行多级伸缩的结构设计，机械手在相同运动行程中，压缩体积最大极限只能为一半。
本申请通过电机1、联轴器2、一级伸缩结构3、二级伸缩结构4、三级伸缩结构5及依次类推至N伸缩结构的设置，使得当机械手不进行工作时，二级丝杆401、三级丝杆501及依次类推至N级丝杆压缩于一级丝杆301内，使机械手的体积得以压缩一半以上的体检。
实施例2
一种应用多级伸缩机械手的设备，包括：机械本体及权利要求1-9中任意一项的多级伸缩机械手，多级伸缩机械手安装在机械本体上。将本申请的多级伸缩机械手应用在机械设备上，机械设备包括机械本体；多级伸缩机械手安装在机械本体上，以使该设备能够使用机械手来进行伸缩夹取更远距离的物品。
实施例3
一种二级伸缩机械手，包括：电机1、驱动长轴17、一级伸缩结构3及二级伸缩结构4；一级伸缩结构3上设置有固定结构及首级浮动板6，固定结构包括固定板7及安装在固定板7上的固定螺母8；
一级伸缩结构3包括呈空心的一级丝杆301、一级浮动板303、呈空心的一级光杆302及安装在一级浮动板303上的一级螺母304，二级伸缩结构4包括二级丝杆401、二级浮动板403及二级光杆402；
一级浮动板303上设置有第一通孔和第一光杆孔，二级浮动板403上设置有第二通孔和第二光杆孔；一级丝杆301的一端穿过首级浮动板6上的丝杆通孔与驱动长轴17连接，另一端穿过第一通孔和一级螺母304；
二级丝杆401的一端安装在一级丝杆301内，另一端穿过第二通孔；一级光杆302的一端安装在首级浮动板6的光杆孔内，另一端安装在第一光杆孔；二级光杆402的一端安装在一级光杆302内，另一端安装在第二光杆孔内；
电机1与驱动长轴17连接、并带动驱动长轴17旋转，驱动长轴17带动一级丝杆301旋转，同时驱动长轴17带动二级丝杆401旋转与一级丝杆301同步旋转，固定螺母8带动一级丝杆301做伸缩运动，最终带动一级伸缩结构3及一级以上伸缩结构进行伸缩运动，一级螺母304带动二级丝杆401做伸缩运动。
本发明的伸缩的机械手及多级伸缩的机械手中，伸缩机械手包括：电机1、驱动长轴17、一级伸缩结构3及二级伸缩结构4；一级伸缩结构3上设置有固定结构及首级浮动板6，固定结构包括固定板7及安装在固定板7上的固定螺母8。
通过电机1、驱动长轴17、一级伸缩结构3和二级伸缩结构4的设置，使得一级丝杆301和一级光杆302在能够对应在二级丝杆401和二级光杆402内进行伸缩运动，使机械手的体积得以压缩；机械手一级伸缩结构3和二级伸缩结构4采用重叠的滑轨结构，其压缩折叠的水平线在一条线上，大大压缩体积占用率，降低了整个机械手的重量，最终使伸缩机械手可以应用于轻载、高深度同样适用的应用场景。
实施例中，固定螺母8及一级螺母304均为丝杆螺母。各级的丝杆螺母均安装在对应级的浮动板上；一级丝杆301螺母安装在一级浮动板303上，二级丝杆401螺母安装在二级浮动板403上。通过每一级的丝杆螺母带动丝杆进行伸缩运动；固定螺母8也设置为丝杆螺母。
实施例中，二级机械手还包括第一轴承14和第二轴承15结构，第一轴承14安装在第一通孔内，第二轴承15安装在第二通孔内；多级伸缩机械手还包括首级轴承13，首级轴承13安装在首级浮动板6的丝杆通孔内。在各级浮动板上设置轴承，各级丝杆穿过本级浮动板上的轴承，轴承为丝杆提供支撑力和导向；在一级浮动板303上设置第一轴承14，二级浮动板403上设置第二轴承15；一级丝杆301的一端穿过首级轴承13，另一端穿过一级轴承；二级丝杆401穿过设置的第二轴承15；轴承起到提供支撑和导向的作用。
实施例中，机械手还包括电机连接板9，电机连接板9的一端与首级浮动板6连接、另一端与电机1连接。在首级浮动板6和电机1之间设置电机连接板9，电机连接板9起到连接首级浮动板6和电机1的作用。
实施例中，二级机械手还包括外壳10，在不进行工作时，机械手的结构均位于外壳10内。设置外壳10，一级伸缩结构3、二级伸缩结构4及类推至N级伸缩结构在机械手不进行伸缩运动时均为于该外壳10内。
实施例中，一级光杆302和二级光杆402分别各为一根以上，第一光杆孔及第二光杆孔的数量对应一级光杆302设置及二级光杆402的数量设置。光杆的设置作用包括起到导向和支撑作用，使得每级丝杆能够顺利的进行伸缩运动，每级光杆的数量可根据需要进行设置；本实施例中，将每级的光杆设置为两根；即，一级光杆302及二级光杆402均设置为两根。
实施例中，二级机械手还包括末端连接板11及夹具12，末端连接板11与的二级浮动板403连接，夹具12安装在末端连接板11上；在二级浮动板403上安装末端连接板11，二级浮动板403为最后一级的浮动板，即尾级浮动板；在末端连接板11上安装用于夹取物品的夹具12；当电机1启动后，通过多级丝杆的伸缩运动，以使得夹具12在伸缩过程中夹取不同距离的物品；末端连接板11上可以换取安装不同类型的夹具12。
实施例中，第一光杆孔和第二光杆孔内设置有直线轴承。在第一光杆孔及第二光杆孔内设置直线轴承，以提高定向的精度及效率。
实施例中，一级丝杆301及二级丝杆401设置为滚珠丝杆。将一级丝杆301及二级丝杆401设置为以滚珠丝杆提高传动的精度及效率。
现有的机械手的结构的设计主要应用在重载场景，其折叠的水平线不在一条线上，采用非重叠的滑轨结构，其结构厚实沉重，无法应用微型轻载的场景。
通过电机1、驱动长轴17、一级伸缩结构3和二级伸缩结构4的设置，使得当机械手不进行工作时，二级丝杆401和二级光杆402对应压缩于一级丝杆301和一级光杆302内，使机械手的体积得以压缩；机械手一级伸缩结构3和二级伸缩结构4采用重叠的滑轨结构，其压缩折叠的水平线在一条线上，大大压缩体积占用率，降低了整个机械手的重量，最终使伸缩机械手可以应用于轻载、高深度同样适用的应用场景。
实施例4
一种应用二级伸缩机械手的设备，包括：机械本体及权利要求11-19中任意一项的二级伸缩机械手，二级伸缩机械手安装在机械本体上。将本申请的二级伸缩机械手应用在机械设备上，机械设备包括机械本体；多级伸缩机械手安装在机械本体上，以使该设备能够使用机械手来进行伸缩夹取物品。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (20)

  1. 一种多级伸缩机械手，其特征在于，包括：电机、联轴器、及伸缩结构；所述伸缩结构包括一级伸缩结构、二级伸缩结构及类推至N级伸缩结构，所述N为大于2的正整数；所述一级伸缩结构上设置有固定结构及首级浮动板，所述固定结构包括固定板及安装在所述固定板上的固定螺母；
    所述一级伸缩结构包括呈空心的一级丝杆、一级浮动板、呈空心的一级光杆及安装在所述一级浮动板上的一级螺母；所述二级伸缩结构包括呈空心的二级丝杆、二级浮动板、呈空心的二级光杆及安装在所述二级浮动板上的二级螺母；依次类推至，所述N级伸缩结构包括N级丝杆、N级浮动板及N级光杆；
    所述一级浮动板上设置有第一通孔和第一光杆孔，所述二级浮动板上设置有第二通孔和第二光杆孔，依次类推至所述N级浮动板上设置有第N通孔和第N光杆孔；
    所述一级丝杆的一端穿过所述首级浮动板上的丝杆通孔与所述联轴器连接，另一端穿过所述第一通孔和一级螺母；所述二级丝杆的一端安装在所述一级丝杆内，另一端穿过所述第二通孔和二级螺母；依次类推，所述N级丝杆的一端安装在N-1级丝杆内，另一端穿过所述第N通孔；所述一级光杆的一端安装在所述首级浮动板上的光杆孔内，另一端安装在所述第一光杆孔；所述二级光杆的一端安装在所述一级光杆内，另一端安装在所述第二光杆孔内；依次类推，N级光杆的一端安装在N-1级光杆内，另一端安装在第N光杆孔内；
    所述一级丝杆、二级丝杆及依次类推直至N级丝杆中，每级丝杆相连接的部分采用内花键套外花键或内异行孔套外异形孔的方式连接；
    所述电机与所述联轴器连接、并带动所述联轴器旋转，所述联轴器带动所述一级丝杆旋转，同时所述一级丝杆带动所述二级丝杆旋转，依次类推直至所述N-1级丝杆带动所述N级丝杆旋转；所述一级丝杆穿过所述固定板上的丝杆通孔和固定螺母；所述固定螺母带动所述一级丝杆做伸缩运动，最终带动一级伸缩结构及二级以上伸缩结构进行伸缩运动，所述一级螺母带动二级丝杆做伸缩运动，最终带动二级伸缩结构及二级以上伸缩结构进行伸缩运动，依次类推至所述N-1级螺母带动N级丝杆做伸缩运动。
  2. 根据权利要求1所述的多级伸缩机械手，其特征在于，所述一级螺母、二级螺母、依次类推直至N-1级螺母及固定螺母，均为丝杆螺母。
  3. 根据权利要求1所述的多级伸缩机械手，其特征在于，所述多级伸缩机械手还包括第一轴承、第二轴承及依次类推直至第N轴承；所述第一轴承、第二轴承及依次类推直至第N轴承依次对应安装在所述第一通孔、第二通孔及依次类推至第N通孔内；
    所述多级伸缩机械手还包括首级轴承，所述首级轴承安装在所述首级浮动板的丝杆通孔内。
  4. 根据权利要求3所述的多级伸缩机械手，其特征在于，所述多级伸缩机械手还包括电机连接板，所述电机连接板的一端与所述首级级浮动板连接、另一端与所述电机连接。
  5. 根据权利要求4所述的多级伸缩机械手，其特征在于，所述多级伸缩机械手还包括外壳，在不进行工作时，所述机械手的结构均位于所述外壳内。
  6. 根据权利要求1所述的多级伸缩机械手，其特征在于，所述一级光杆、二级光杆及依次类推直至N级光杆的数量分别各为一根以上，所述第一光杆孔、第二光杆孔及依次类推至第N光杆孔的数量对应所述一级光杆设置、二级光杆及依次类推至N级光杆的数量进行设置。
  7. 根据权利要求1所述的多级伸缩机械手，其特征在于，所述多级伸缩机械手还包括末端连接板及夹具，所述末端连接板安装在所述的N级浮动板上，所述夹具安装在所述末端连接板上。
  8. 根据权利要求1所述的多级伸缩机械手，其特征在于，所述第一光杆孔、第二光杆孔及依次类推至第N光杆孔内设置有直线轴承。
  9. 根据权利要求1所述的多级伸缩机械手，其特征在于，所述一级丝杆、二级丝杆及依次类推至N级丝杆设置为滚珠丝杆。
  10. 一种应用多级伸缩机械手的设备，其特征在于，包括：机械本体及权利要求1-9中任意一项的多级伸缩机械手，所述多级伸缩机械手安装在所述机械本体上。
  11. 一种二级伸缩机械手，其特征在于，包括：电机、驱动长轴、一级伸缩结构及二级伸缩结构；所述一级伸缩结构上设置有固定结构及首级浮动板，所述固定结构包括固定板及安装在所述固定板上的固定螺母；
    所述一级伸缩结构包括呈空心的一级丝杆、一级浮动板、呈空心的一级光杆及安装在所述一级浮动板上的一级螺母，所述二级伸缩结构包括二级丝杆、二级浮动板及二级光杆；
    所述一级浮动板上设置有第一通孔和第一光杆孔，所述二级浮动板上设置有第二通孔和第二光杆孔；所述一级丝杆的一端穿过所述首级浮动板上的丝杆通孔与所述驱动长轴连接，另一端穿过所述第一通孔和一级螺母；
    所述二级丝杆的一端安装在所述一级丝杆内，另一端穿过所述第二通孔；所述一级光杆的一端安装在所述首级浮动板的光杆孔内，另一端安装在所述第一光杆孔；所述二级光杆的一端安装在所述一级光杆内，另一端安装在所述第二光杆孔内；
    所述电机与所述驱动长轴连接、并带动所述驱动长轴旋转，所述驱动长轴带动所述一级丝杆旋转，同时所述驱动长轴带动所述二级丝杆旋转与一级丝杆同步旋转，所述固定螺母带动所述一级丝杆做伸缩运动，最终带动一级伸缩结构及一级以上伸缩结构进行伸缩运动，所述一级螺母带动二级丝杆做伸缩运动。
  12. 根据权利要求11所述的二级伸缩机械手，其特征在于，所述固定螺母及一级螺母均为丝杆螺母。
  13. 根据权利要求11所述的二级伸缩机械手，其特征在于，所述二级机械手还包括第一轴承和第二轴承结构，所述第一轴承安装在所述第一通孔内，所述第二轴承安装在所述第二通孔内；所述多级伸缩机械手还包括首级轴承，所述首级轴承安装在所述首级浮动板的丝杆通孔内。
  14. 根据权利要求13所述的二级伸缩机械手，其特征在于，所述机械手还包括电机连接板，所述电机连接板的一端与所述首级浮动板连接、另一端与所述电机连接。
  15. 根据权利要求14所述的二级伸缩机械手，其特征在于，所述二级机械手还包括外壳，在不进行工作时，所述机械手的结构均位于所述外壳内。
  16. 根据权利要求11所述的二级伸缩机械手，其特征在于，所述一级光杆和所述二级光杆分别各为一根以上，所述第一光杆孔及第二光杆孔的数量对应所述一级光杆设置及所述二级光杆的数量设置。
  17. 根据权利要求11所述的二级伸缩机械手，其特征在于，所述二级机械手还包括末端连接板及夹具，所述末端连接板与所述的二级浮动板连接，所述夹具安装在所述末端连接板上。
  18. 根据权利要求11所述的二级伸缩机械手，其特征在于，所述第一光杆孔和所述第二光杆孔内设置有直线轴承。
  19. 根据权利要求11所述的二级伸缩机械手，其特征在于，所述一级丝杆及二级丝杆设置为滚珠丝杆。
  20. 一种应用二级伸缩机械手的设备，其特征在于，包括：机械本体及权利要求11-19中任意一项的二级伸缩机械手，所述二级伸缩机械手安装在所述机械本体上。
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