CN107128852A - A kind of lifting sleeve structure - Google Patents
A kind of lifting sleeve structure Download PDFInfo
- Publication number
- CN107128852A CN107128852A CN201710496976.6A CN201710496976A CN107128852A CN 107128852 A CN107128852 A CN 107128852A CN 201710496976 A CN201710496976 A CN 201710496976A CN 107128852 A CN107128852 A CN 107128852A
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- Prior art keywords
- sleeve
- pipe
- sleeve pipe
- adapter
- outer layer
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- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000008602 contraction Effects 0.000 claims abstract description 7
- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
- 230000003028 elevating effect Effects 0.000 description 5
- 239000003381 stabilizer Substances 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003014 reinforcing effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of lifting sleeve structure, including thimble assembly, and described sleeve pipe component includes multiple sleeve pipes and corresponding adapter sleeve, and the adapter sleeve is arranged on the lower end outer wall of sleeve pipe；There is step on the adapter sleeve, or, the inwall of described sleeve pipe is provided with step；The outer wall of described sleeve pipe is provided with projection；Each sleeve pipe is successively nested, and inner layer sleeve can be moved along outer layer sleeve；During elongation, after the step on the adapter sleeve of the bump contact outer layer sleeve of inner layer sleeve, or contact after the step on outer layer sleeve inwall, drive outer layer sleeve movement；During contraction, after the adapter sleeve of the adapter sleeve contact outer layer sleeve of inner layer sleeve, outer layer sleeve movement is driven.The present invention can be elongated to the length of demand using Multi-stage sleeve lifting in the confined space, realize flexible in order, compact conformation, small volume, stable drive.
Description
Technical field
The present invention relates to a kind of lifting sleeve structure.
Background technology
In daily power station inspection, the object of crusing robot inspection is sometimes at distant position, due to path limit
System, and can not reach.Therefore camera is stretched out by telescoping mechanism and gone, reduced and by the distance of examined in determination.But it is due to normal
The spiral expanding mechanism for advising design is complicated, and structure is bigger than normal, it is impossible to fast and effectively carry out stretching motion, simultaneous fault rate
High the problems such as, cause routing inspection efficiency low.
Chinese invention patent document CN102235840A《A kind of Ju Ba robots jacking system》Elaborate that one kind uses bullet
The jacking system of reed pipe prepared material, its positioning method positions for switch, and catch bar and relay type column interaction complete elevating function,
Risen or such a device is applicable with target during target practice, or the application scenarios packed up, target lighter weight is using mutual
The bourdon tube saw lumber being nested with can meet corresponding demand.Such a scheme is not suitable for continuously lifting by central controller controls
Application scenarios, while being difficult to ensure that the stability of elevating mechanism in heavier loads.
Chinese invention patent application CN104942826A《A kind of robot lowering or hoisting gear and elevating method》In disclose one
The robot lifting scheme that grade slide rail is added using drawstring is planted, to lift step by step when the device is lifted, higher is required to drawstring, it is non-
Often it is practically applicable to relatively large robot, its stability can reduce for the larger robot of small-sized distance of stretch out and draw back, in addition, the invention
Patent application uses lifting rope, and drawstring both uses as lifting power transmission, is also the head-rope of each cursor slide, lifting
Journey, drawstring is easily rocked so that robot lifting is not reliable enough.
The content of the invention
To solve problem of the prior art, the present invention is provided a kind of lifting sleeve structure, lifted using Multi-stage sleeve, can
The length of demand is elongated in the confined space, flexible in order, compact conformation, small volume, stable drive is realized.
The lifting sleeve structure that the present invention is provided, including thimble assembly, described sleeve pipe component include multiple sleeve pipes and phase
The adapter sleeve answered, the adapter sleeve is arranged on the lower end outer wall of sleeve pipe；There is step on the adapter sleeve, or, the set
The inwall of pipe is provided with step；The outer wall of described sleeve pipe is provided with projection；Each sleeve pipe is successively nested, and inner layer sleeve can be along outer layer jacket
Pipe is moved；During elongation, after the step on the adapter sleeve of the bump contact outer layer sleeve of inner layer sleeve, or in contact outer layer sleeve
After step on wall, outer layer sleeve movement is driven；During contraction, after the adapter sleeve of the adapter sleeve contact outer layer sleeve of inner layer sleeve,
Drive outer layer sleeve movement.The present invention is simple in construction, using nested structure step by step, and when stretching, outer layer jacket is driven by inner layer sleeve
Pipe is moved, and carries out Multi-stage transmission, and the length of needs can be elongated in the confined space, is realized and is stretched in order, in small space
With larger telescopic extensions, compact conformation, small volume.
To avoid rocking during telescopic extension, it is ensured that slided between sleeve pipe according to regulation route is relative, the outer wall of inner layer sleeve
On be provided with the line for being provided with and being matched with the limited block or wire casing on inner layer sleeve on limited block or wire casing, the inwall of outer layer sleeve
Groove or limited block, the limited block are inserted in wire casing, it is ensured that sleeve pipe is slided along wire casing.
The present invention also provides a kind of lifting sleeve structure, including thimble assembly, described sleeve pipe component include multiple sleeve pipes with
And corresponding adapter sleeve, the adapter sleeve is on the lower end outer wall of sleeve pipe；The outer wall of described sleeve pipe is provided with projection, sleeve pipe
Inwall on be provided with limited block；Each sleeve pipe is successively nested, and inner layer sleeve can be moved along outer layer sleeve；During elongation, inner layer sleeve
Bump contact outer layer sleeve on limited block after, drive outer layer sleeve movement；During contraction, the adapter sleeve contact of inner layer sleeve is outer
After the adapter sleeve of layer sleeve pipe, outer layer sleeve movement is driven.Limited block is arranged on internal surface of sleeve pipe by the lifting sleeve structure, a side
Face can be coordinated using limited block and projection realizes elongation in order, on the other hand, is set on the outer wall of inner layer sleeve inner layer sleeve
Wire casing is equipped with, limited block is inserted in wire casing, it is possible to linear slide is realized, it is to avoid sleeve pipe is rocked, limited block should try one's best setting
In the lower end of sleeve pipe.
For ease of carry robot, strengthen the stability of lifting, the present invention includes two groups of structure identical thimble assemblies, two
The sleeve pipe of each corresponding level of group thimble assembly shares an adapter sleeve, i.e. the two ends of adapter sleeve are separately mounted to two groups of sleeve pipes
On the lower end outer wall of the sleeve pipe of component corresponding level, the sleeve pipe connection of two groups of thimble assembly corresponding levels is risen using adapter sleeve
Come, greatly enhance the stability of thimble assembly.Can be that the sleeve pipe of part corresponding level shares an adapter sleeve or complete
The sleeve pipe of portion's corresponding level is all with an adapter sleeve.
Two groups of thimble assemblies are driven by hoisting mechanism, and the hoisting mechanism includes motor and two drawstrings, two drawstrings point
In the innermost layer sleeve pipe for not being located therein one group of thimble assembly, the two ends of drawstring connect with motor output shaft, innermost layer sleeve pipe respectively
Connect, during contraction, motor rolls up drawstring on output shaft, during elongation, motor progressively discharges drawstring, two drawstrings share an electricity
Machine, realizes the synchronization lifting of two groups of thimble assemblies, without separately setting motor synchronous device.
To avoid the movement of thimble assembly over range from causing the collision such as robot and support, robot, institute of the present invention are damaged
Stating hoisting mechanism also includes limit switch and switch triggering part, and the limit switch is arranged on the adapter sleeve of innermost layer sleeve pipe,
When limit switch touching switch trigger member, motor stopping.
Thimble assembly of the present invention is driven by hoisting mechanism；The hoisting mechanism includes motor and drawstring, the drawstring
In innermost layer sleeve pipe, the two ends of drawstring respectively with motor output shaft, innermost layer sleeve pipe connection.The hoisting mechanism also includes
Limit switch and switch triggering part, the limit switch are arranged on the adapter sleeve of innermost layer sleeve pipe, when limit switch is touched out
Close trigger member, motor stopping.
For convenience of device layout, hoisting mechanism of the present invention also includes bearing, and the drawstring is defeated with motor after bearing
Shaft is connected, and is changed the direction of drawstring using bearing, can flexibly be set the installation site of motor.
The present invention use Multi-stage sleeve nested structure, realize orderly ground multi-stage expansion, make its in small space with compared with
Big telescopic extensions, realize and the elongation for meeting demand are completed in the confined space.Compact conformation of the present invention, light weight, step by step
Flexible, meeting the telescoping mechanism required in specific product application has compact conformation, small volume, can be extended in the confined space
To the requirement of the length of demand.By setting limited block and wire casing, realize rectilinear movement, it is to avoid sleeve pipe is rocked.Present invention knot
Structure is simple, and fault rate is low, and cost is low；Small volume, stable drive.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention one；
Fig. 2 is schematic structural view of the invention two (not shown motor, bearing etc.)；
Fig. 3 is thimble assembly top view of the present invention；
Fig. 4 is the 5th sleeve pipe and Quadruplet pipe socket schematic diagram；
Fig. 5 is drawstring and first sleeve connection diagram；
Fig. 6 is six layers of sleeve pipe socket schematic diagram.
In figure：1- supports；2A- upper lefts stabilizer；2B- upper right stabilizers；3A- lower-lefts adapter sleeve；3B- bottom rights adapter sleeve；
The adapter sleeves of 4- the 5th；5th, the 4th adapter sleeve；The adapter sleeves of 6- the 3rd；The adapter sleeves of 7- second；8A- left support frame adapter sleeves；The right branch of 8B-
Support adapter sleeve；The left fixed sleevings of 9A-；The right fixed sleevings of 9B-；The 5th sleeve pipe of a 10- left sides；The 5th sleeve pipe of the 10B- right sides；A 11- left sides the 4th
Sleeve pipe；11B- right sides Quadruplet pipe；The 3rd sleeve pipe of a 12- left sides；The second sleeve pipe of a 13- left sides；The left first sleeves of 14-；The projections of 15- the 5th；16-
4th projection；The projections of 17- the 3rd；The projections of 18- second；The projections of 19- first；The limited blocks of 20- the 6th；The limited blocks of 21- the 5th；22-
4th limited block；The limited blocks of 23- the 3rd；The limited blocks of 24- second；The limited blocks of 25- first；26- motors；27- bearings；28A- Zolas
Band；28B- right drawstrings；29- limit switches；30- switch triggering parts；31- reinforcing plates；32- drawstring fixed plates；33- fixing bolts；
34- tracks；33- lower-lefts adapter sleeve step；The steps of 34- the 5th；The steps of 35- the 4th；The steps of 36- the 3rd；37- second steps.
Embodiment
The lifting sleeve structure that the present invention is provided, including multiple sleeve pipes, each sleeve pipe are successively nested together, outside outermost layer sleeve pipe
It is cased with fixed sleeving.
As shown in Fig. 1-2,6, six layers of sleeve structure (contain outermost fixed sleeving) are shown in the figure, and including
Left and right two thimble assemblies, the structure of the corresponding left and right sleeve pipe of left and right two thimble assemblies is identical.With reference to Fig. 3,4,5, with
In Fig. 1,2 exemplified by the thimble assembly of left side, the structure of the thimble assembly of the present invention is described in detail.Left fixed sleeving 9A is arranged on support
On 1, to ensure left fixed sleeving 9A stability, left fixed sleeving 9A upper and lower ends pass through upper left stabilizer 2A, a left side respectively
Lower joint sleeve 3A is arranged on support 1, and upper left stabilizer 2A, lower-left adapter sleeve 3A are respectively fitted over up and down the two of left fixed sleeving 9A
End.It is provided with the 6th limited block 20 of protrusion, the inwall of lower-left adapter sleeve 3A lower end and sets on left fixed sleeving 9A inwall
Lower-left adapter sleeve step 33 is equipped with, lower-left adapter sleeve 3A is enclosed on left fixed sleeving 9A lower end, lower-left adapter sleeve 3A bottom surface position
The level of lower-left adapter sleeve step 33 on lower section in left fixed sleeving 9A bottom surface, lower-left adapter sleeve 3A stretches to left fixed sleeving
9A axis.
With reference to Fig. 2,3,4,6, left 5th sleeve pipe 10, left Quadruplet pipe 11, left 3rd sleeve pipe 12, left second sleeve pipe 13, a left side
The structure of first sleeve 14 is essentially identical.It is provided with the outer wall of left 5th sleeve pipe 10 on the 5th projection 15, outer wall also along quill
To the wire casing (not shown) of setting, the wire casing is adapted with the 6th limited block 20, and the 6th limited block 20 can be the 5th set along a left side
Wire casing on pipe 10 is moved linearly, and the 5th limited block 21 of protrusion is provided with the inside of left 5th sleeve pipe 10；A left side the 5th
The lower end of sleeve pipe 10 is cased with the 5th adapter sleeve 4, and the bottom surface of the 5th adapter sleeve 4 is located at the lower section of the bottom surface of left 5th sleeve pipe 10, the
The 5th step 34 is provided with the inwall of the lower end of five adapter sleeves 4, the level of the 5th step 34 stretches to the axle of left 5th sleeve pipe 10
Line.It is provided with the 4th projection 16, outer wall and (does not show in figure along the axially arranged wire casing of sleeve pipe on the outer wall of left Quadruplet pipe 11 also
Go out), the 4th limited block 22 of protrusion is provided with the inwall of left Quadruplet pipe 11；The lower end of left Quadruplet pipe 11 is cased with the 4th company
Female connector 5, the bottom surface of the 4th adapter sleeve 5 is located on the lower section of the bottom surface of left Quadruplet pipe 11, the inwall of the lower end of the 4th adapter sleeve 5
The 4th step 35 is provided with, the level of the 4th step 35 stretches to the axis of left Quadruplet pipe 11.On the outer wall of left 3rd sleeve pipe 12
It is provided with the 3rd projection 17, outer wall also along the axially arranged wire casing (not shown) of sleeve pipe, the inwall of left 3rd sleeve pipe 12
On be provided with the 3rd limited block 23 of protrusion；The lower end of left 3rd sleeve pipe 12 is cased with the 3rd adapter sleeve 6, the bottom of the 3rd adapter sleeve 6
Face, which is located on the lower section of the bottom surface of left 3rd sleeve pipe 12, the inwall of the lower end of the 3rd adapter sleeve 6, is provided with the 3rd step 36, and this
The level of three step 36 stretches to the axis of left 3rd sleeve pipe 12.The second projection 18, outer wall are provided with the outer wall of left second sleeve pipe 13
On also along the axially arranged wire casing (not shown) of sleeve pipe, second that protrusion is provided with the inwall of left second sleeve pipe 13 is spacing
Block 24；The lower end of left second sleeve pipe 13 is cased with the second adapter sleeve 7, and the bottom surface of the second adapter sleeve 7 is located at the bottom of left second sleeve pipe 13
Second step 37 is provided with the lower section in face, the inwall of the lower end of the second adapter sleeve 7, the level of second step 37 stretches to a left side second
The axis of sleeve pipe 13.It is provided with the outer wall of left first sleeve 14 on first projection 19, outer wall also along the axially arranged line of sleeve pipe
The first limited block 25 of protrusion is provided with groove (not shown), the inwall of left first sleeve 14；Because limited block is to be used for
Coordinate with wire casing, progress straight line is spacing, due to not being arranged other sleeve pipes in left first sleeve 14, therefore, the first limited block 25
It is unnecessary, can removes；The lower end of left first sleeve 14 is cased with left support frame adapter sleeve 8A, left support frame adapter sleeve 8A work
Be used for mount robot.As seen from Figure 3, multiple projections are both provided with each sleeve pipe, correspondingly, lower-left adapter sleeve,
Step on bottom right adapter sleeve, each adapter sleeve will also do the setting of respective amount and position.Each projection should try one's best and be arranged on sleeve pipe
Upper end, so when declining, sleeve pipe can be stretched out with longer.The shape of sleeve pipe can be shape that is various, being shown in figure
It is square or circle.
How nested thimble assembly the following detailed description of the present invention is.Left first sleeve 14 is enclosed on left second sleeve pipe 13
In, the second limited block 24 on the left inwall of second sleeve pipe 13 is inserted in the wire casing of the left outer wall of first sleeve 14；Left second sleeve pipe 13
It is enclosed in left 3rd sleeve pipe 12, the 3rd limited block 23 on the left inwall of 3rd sleeve pipe 12 is inserted in the wire casing of the left outer wall of second sleeve pipe 13
In；Left 3rd sleeve pipe 12 is enclosed in left Quadruplet pipe 11, and the 4th limited block 22 on the left inwall of Quadruplet pipe 11 is inserted in a left side the 3rd
In the wire casing of sleeve outer wall；Left Quadruplet pipe 11 is enclosed in left 5th sleeve pipe 10, the 5th limited block on the left inwall of 5th sleeve pipe 10
21 are inserted in the wire casing of the left outer wall of Quadruplet pipe 11；Left 5th sleeve pipe 10 is enclosed in left fixed sleeving 9A, in left fixed sleeving 9A
The 6th limited block 20 on wall is inserted in the wire casing of the left outer wall of 5th sleeve pipe 10.It is main to use due to the cooperation of limited block and wire casing
In when sleeve pipe is lifted so that straight line is lifted during lifting between adjacent casing, and therefore, the position of limited block and wire casing can be right
Change, by the sleeve pipe 10 of a left side the 5th with that exemplified by left Quadruplet pipe 11, limited block can be arranged on the outer wall of left Quadruplet pipe 11,
Corresponding wire casing is set on the inside of left 5th sleeve pipe 10, straight line elevating control can be equally realized, the rest may be inferred, on each sleeve pipe
Limited block, wire casing can adjust accordingly.
In order to realize the stabilization of robot lifting, the double-tube structure that the present invention is used is solid on a left side as shown in Fig. 1,2,6
Determine sleeve pipe 9A, left 5th sleeve pipe 10, left Quadruplet pipe 11, left 3rd sleeve pipe 12, left second sleeve pipe 13, pair of left first sleeve 14
Claim position that right fixed sleeving 9B, 5th sleeve pipe 10B of right side, right Quadruplet pipe 11B, right 3rd sleeve pipe, right second sleeve pipe, the right side the are set
Sleeve.From this figure it can be seen that left fixed sleeving 9A, right fixed sleeving 9B lower end are respectively sleeved on lower-left adapter sleeve
3A, bottom right adapter sleeve 3B, right fixed sleeving 9B are rack-mount by upper right stabilizer 2B, the bottom right adapter sleeve 3B at two ends,
Bottom right adapter sleeve 3B bottom surface is less than right fixed sleeving 9B bottom surface, and bottom right adapter sleeve 3B inwall, which has, puts in right fixed sleeving
9B step.Left support frame adapter sleeve 8A, right support frame adapter sleeve 8B are socketed in left first sleeve 14, right first sleeve respectively
(robot carry is on left support frame adapter sleeve 8A, right support frame adapter sleeve 8B), left 5th sleeve pipe 10, right 5th sleeve pipe are shared
5th adapter sleeve 4, the two ends of the 5th adapter sleeve 4 are respectively fitted over left 5th sleeve pipe 10, the lower end of right 5th sleeve pipe, the 5th connection
There is the step for putting in right 5th sleeve pipe on set 4.Left Quadruplet pipe 11, right Quadruplet pipe share the 4th adapter sleeve 5, the 4th connection
The two ends of set 5, which are respectively fitted over to have on left Quadruplet pipe 11, the lower end of right Quadruplet pipe, the 4th adapter sleeve 5, puts in the right side the 4th
The step of sleeve pipe.Left 3rd sleeve pipe 12, right 3rd sleeve pipe share the 3rd adapter sleeve 6, and the two ends of the 3rd adapter sleeve 6 are respectively fitted over a left side
There is the step for putting in right 3rd sleeve pipe on the lower end of 3rd sleeve pipe 12, right 3rd sleeve pipe, the 3rd adapter sleeve 6.It is left second set
Pipe 13, right second sleeve pipe share the second adapter sleeve 7, and the two ends of the second adapter sleeve 7 are respectively fitted over left second sleeve pipe 13, second set of the right side
There is the step for putting in right second sleeve pipe on the lower end of pipe, the second adapter sleeve 7.
Fig. 1,2 are illustrated that thimble assembly is all received in structure together, after contraction, left support frame adapter sleeve 8A, right branch
Support adapter sleeve 8B is resisted against on the second adapter sleeve 7, and the second adapter sleeve 7 is resisted against on the 3rd adapter sleeve 6, and the 3rd adapter sleeve 6 is supported
Lean against on the 4th adapter sleeve 5.
The elevating method of the thimble assembly provided the following detailed description of the present invention, still by taking the thimble assembly of left side as an example.(1) it is each
Casing shrink together, carries out step-down operation, drive mechanism drives left first sleeve 14 to decline, when on the left outer wall of first sleeve 14
The first projection 19 when touching the second step 37 on the second adapter sleeve 7 (being enclosed on the left outer wall of second sleeve pipe 13), a left side first
Sleeve pipe drives left second sleeve pipe together to decline.When the second projection 18 on the left outer wall of second sleeve pipe 13 touches the 3rd adapter sleeve 6
During three step 36 on (be enclosed on left 3rd sleeve pipe 12 on), left second sleeve pipe drives left 3rd sleeve pipe together to decline.When left the
The 3rd projection 17 on the outer wall of three sleeve pipe 12 touches the 4th step 35 on the 4th adapter sleeve 5 (being enclosed on left Quadruplet pipe 11)
When, left 3rd sleeve pipe drives left Quadruplet pipe together to decline.When the 4th projection 16 on the left outer wall of Quadruplet pipe 11 touches
During five step 34 on five adapter sleeves 4 (being enclosed on left 5th sleeve pipe 10), under left Quadruplet pipe drives left 5th sleeve pipe together
Drop.When the 5th projection 15 on the left outer wall of 5th sleeve pipe 10 is touched on lower-left adapter sleeve 3A (being enclosed on left fixed sleeving 9A)
During the adapter sleeve step 33 of lower-left, because left fixed sleeving 9A is fixed, left 5th sleeve pipe stops declining.(2) when shrinking, driving
Mechanism drives left first sleeve 14 to rise, and left first sleeve 14 is gradually taken in left second sleeve pipe 13；When left support frame connects 8A
When touching the second adapter sleeve 7, left first sleeve 14 drives left second sleeve pipe 13 together to rise, and left second sleeve pipe 13 is gradually taken in
In left 3rd sleeve pipe 12.When the second adapter sleeve 7 touches three adapter sleeves 6, left second sleeve pipe 13 drives left 3rd sleeve pipe 12
Together rise, left 3rd sleeve pipe 12 is gradually taken in left Quadruplet pipe 11；When the 3rd adapter sleeve 6 touches four adapter sleeves 5,
Left 3rd sleeve pipe 12 drives left Quadruplet pipe 11 together to rise, and left Quadruplet pipe 11 is gradually taken in left 5th sleeve pipe 10；When
When four adapter sleeves 5 touch five adapter sleeves 4, left Quadruplet pipe 11 drives left 5th sleeve pipe 10 together to rise, left 5th sleeve pipe
10 gradually take in left fixed sleeving 9A；When the 5th adapter sleeve 4 touches lower-left adapter sleeve 3A, drive mechanism is stopped,
Shrink and complete., therefore, can due to driving left fixed sleeving 9A (left fixed sleeving 9A is fixed) to rise without the 5th adapter sleeve
With by being configured to drive mechanism so that left 5th sleeve pipe 10 is stopped when shrinking in place, so, the 5th adapter sleeve 4
Lower-left adapter sleeve 3A can not also be contacted.
Due to setting the purpose of step and projection to be, step coordinates with projection so that the projection of inner layer sleeve is being encountered
After the step of outer layer sleeve, drive outer layer sleeve together to move, therefore, it can step being set directly at the inwall of outer layer sleeve
On, step should be arranged on the lower end of outer layer sleeve as far as possible, and such inner layer sleeve can stretch out longer.Platform can also be not provided with
Rank, but replaced by limited block, on the one hand limited block plays limitation inner layer sleeve movement so that band after inner layer sleeve stretches out in place
Dynamic outer layer sleeve movement, on the other hand coordinates so that casing linear is moved with wire casing.
As shown in figure 3, boss and limited block are located on different vertical face, this setup can avoid boss, spacing
Unnecessary interference is produced between block, step.If projection, limited block, step three are arranged on same vertical plane, should avoid by
Limited block is arranged between projection and step, if limited block is arranged between, it will cause projection can not be connect with step
Touch, will now become the structure described by leading portion, step or projection are instead of using limited block, specifically, if spacing
Block is arranged on the inwall of outer layer sleeve, then limited block instead of step, if limited block is arranged on the outer wall of inner layer sleeve,
Then limited block instead of boss.
The flexible hoisting mechanism of drive sleeve component is described in detail with reference to Fig. 1,5.Hoisting mechanism include motor 26, Zola with
28A, right drawstring 28B, Zola are respectively used to pull left and right side thimble assembly with, right drawstring.Motor 26 is arranged on support 1.Such as
Shown in Fig. 5, by taking installation of the Zola with 28A as an example, illustrate the mounting means of drawstring.The lower end of left first sleeve 14 is provided with fixation
Bolt 33, fixing bolt 33 is horizontally inserted left first sleeve, and Zola is located in left first sleeve 14 with 28A, and its lower end is arranged on
On fixing bolt 33, Zola with both sides be provided with drawstring fixed plate 32, fixing bolt 33 passes through drawstring fixed plate, and drawstring is fixed
Plate 32 is conducive to firm installation of the Zola with 28A, while avoiding Zola from holding with 28A only according to the mount point stress with fixing bolt
It is easily caused drawstring damage.Upper end of the Zola with 28A is arranged on the output shaft of motor 26.For convenience of device layout, gone back on support 1
Two bearings 27 are installed, upper end of the Zola with 28A is connected after bearing 27 with motor output shaft.Right drawstring 28B installation side
Formula is identical with 28A with Zola, and two bearing (not shown)s for being used to change right drawstring direction are equally provided with support 1,
Right drawstring 28B is also mounted on the output shaft of motor 26, that is to say, that left and right drawstring shares a motor.Thimble assembly is received
During contracting, drawstring is reclaimed and is wound on output shaft by the output shaft of motor 26, and sleeve pipe is elevated；During elongation, the output shaft of motor 26
Drawstring is discharged, sleeve pipe is laid down.
As shown in figure 1, after thimble assembly shrinks in place, 34 pairs of walking mechanism and the track of robot (not shown)
Together, such robot can be with autonomous to track 34.To avoid thimble assembly hypersystole from causing robot damaged in collision,
Install to have to be provided with to switch in reinforcing plate 31, reinforcing plate 31 on limit switches 29, support 1 on left support frame adapter sleeve 8A and touch
Outbox 30, the switch triggering part is connected with motor or control device, and when robot is moved into place, limit switch 29 encounters switch
Trigger member 30, motor directly shuts down, or is shut down by control device controlled motor.
Claims (10)
1. a kind of lifting sleeve structure, it is characterised in that：Including thimble assembly, described sleeve pipe component includes multiple sleeve pipes and phase
The adapter sleeve answered, the adapter sleeve is arranged on the lower end outer wall of sleeve pipe；There is step on the adapter sleeve, or, the set
The inwall of pipe is provided with step；The outer wall of described sleeve pipe is provided with projection；Each sleeve pipe is successively nested, and inner layer sleeve can be along outer layer jacket
Pipe is moved；During elongation, after the step on the adapter sleeve of the bump contact outer layer sleeve of inner layer sleeve, or in contact outer layer sleeve
After step on wall, outer layer sleeve movement is driven；During contraction, after the adapter sleeve of the adapter sleeve contact outer layer sleeve of inner layer sleeve,
Drive outer layer sleeve movement.
2. lifting sleeve structure as claimed in claim 1, it is characterised in that：Be provided with the outer wall of inner layer sleeve limited block or
The wire casing or limited block matched with the limited block or wire casing on inner layer sleeve is provided with wire casing, the inwall of outer layer sleeve, it is described
Limited block is inserted in wire casing.
3. a kind of lifting sleeve structure, it is characterised in that：Including thimble assembly, described sleeve pipe component includes multiple sleeve pipes and phase
The adapter sleeve answered, the adapter sleeve is arranged on the lower end outer wall of sleeve pipe；The outer wall of described sleeve pipe is provided with projection, sleeve pipe it is interior
Limited block is provided with wall；Each sleeve pipe is successively nested, and inner layer sleeve can be moved along outer layer sleeve；During elongation, inner layer sleeve it is convex
After limited block on block contact outer layer sleeve, outer layer sleeve movement is driven；During contraction, the adapter sleeve contact outer layer jacket of inner layer sleeve
After the adapter sleeve of pipe, outer layer sleeve movement is driven.
4. lifting sleeve structure as claimed in claim 3, it is characterised in that：Wire casing, institute are provided with the outer wall of inner layer sleeve
Limited block is stated to be inserted in wire casing.
5. the lifting sleeve structure as described in claim 1,2,3 or 4, it is characterised in that：Including two groups of structure identical sleeve pipes
Component, the sleeve pipe of each corresponding level of two groups of thimble assemblies shares an adapter sleeve, i.e. the two ends of adapter sleeve are separately mounted to two
On the lower end outer wall of the sleeve pipe of group thimble assembly corresponding level.
6. lifting sleeve structure as claimed in claim 5, it is characterised in that：Two groups of thimble assemblies are driven by hoisting mechanism, institute
Stating hoisting mechanism includes motor and two drawstrings, and two drawstrings are located therein in the innermost layer sleeve pipe of one group of thimble assembly respectively,
The two ends of drawstring respectively with motor output shaft, innermost layer sleeve pipe connection.
7. lifting sleeve structure as claimed in claim 6, it is characterised in that：The hoisting mechanism also includes limit switch and opened
Trigger member is closed, the limit switch is arranged on the adapter sleeve of innermost layer sleeve pipe, when limit switch touching switch trigger member, motor
Shut down.
8. the lifting sleeve structure as described in claim 1,2,3 or 4, it is characterised in that：Described sleeve pipe component is by hoisting mechanism
Driving；The hoisting mechanism includes motor and drawstring, and the drawstring is located in innermost layer sleeve pipe, the two ends of drawstring respectively with motor
Output shaft, innermost layer sleeve pipe connection.
9. lifting sleeve structure as claimed in claim 8, it is characterised in that：The hoisting mechanism also includes limit switch and opened
Trigger member is closed, the limit switch is arranged on the adapter sleeve of innermost layer sleeve pipe, when limit switch touching switch trigger member, motor
Shut down.
10. lifting sleeve structure as claimed in claim 8, it is characterised in that：The hoisting mechanism also includes bearing, the drawing
Band is connected after bearing with motor output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710496976.6A CN107128852A (en) | 2017-06-26 | 2017-06-26 | A kind of lifting sleeve structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710496976.6A CN107128852A (en) | 2017-06-26 | 2017-06-26 | A kind of lifting sleeve structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107128852A true CN107128852A (en) | 2017-09-05 |
Family
ID=59736125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710496976.6A Pending CN107128852A (en) | 2017-06-26 | 2017-06-26 | A kind of lifting sleeve structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107128852A (en) |
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| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
| CN113202783A (en) * | 2021-06-07 | 2021-08-03 | 中船黄埔文冲船舶有限公司 | Seawater lifting device and ocean platform |
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Application publication date: 20170905 |