Rotary precession telescoping structure

Abstract

This application discloses a rotary precession telescopic structure, belonging to the field of machinery and automation. The rotary precession telescopic structure includes a telescopic arm assembly, a drive assembly, and a flexible tube. The telescopic arm assembly has a fixed base with a movable arm that is circumferentially fixed. In the drive assembly, a rotating nut is rotatably mounted on the fixed base, and its threaded hole has an inner helical groove. The drive mechanism is connected to the rotating nut to drive its circumferential rotation. The flexible tube has an outer helical groove that matches the inner helical groove, and it is screwed into the threaded hole of the rotating nut, with one end fixed to the movable arm to restrict its own circumferential rotation. During operation, the drive mechanism drives the rotating nut to rotate, and the flexible tube moves in and out of the threaded hole, thereby causing the movable arm to move closer to or away from the fixed base, thus meeting the needs of moving the end effector.

Description

Technical Field

[0001] This application relates to the fields of machinery and automation, and in particular to a rotary precession telescopic structure. Background Technology

[0002] Telescopic structures are widely used in product design, such as hinge-based telescopic flipping structures (e.g., hinged lifting platforms), gear and rack-driven telescopic mechanisms (e.g., drawers and sliding doors), telescopic structures that are adjusted by rotating a threaded shaft (e.g., camera lenses), and telescopic structures that retract via a torsion spring and require manual extension (e.g., measuring tapes).

[0003] In the field of machinery and automation, telescopic booms are an important component, commonly found in construction machinery (such as crane telescopic booms) and automated warehousing equipment (such as forklift telescopic booms). Telescopic booms, composed of multi-stage telescopic sleeves, can retract compactly to save space when not in operation, while simultaneously achieving wide coverage in a one-dimensional linear motion direction when in operation.

[0004] Telescopic booms mostly employ multi-stage nested sleeves to achieve relative telescopic sliding and motion support. Based on this, various implementation methods exist depending on the transmission method and power source. Among existing mature technologies, pulley telescopic structures, multi-stage trapezoidal screw telescopic structures, and rigid chain telescopic structures are common implementations. However, these solutions have some drawbacks: pulley blocks are relatively large, making them difficult to arrange in compact spaces, which limits their application in space-constrained situations; the screw processing technology in multi-stage trapezoidal screw solutions is complex and costly, increasing manufacturing costs and reducing market competitiveness; the rigid chain solution also has high costs, similarly hindering cost control.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0006] This disclosure provides a rotary precession telescopic structure, the rotary precession telescopic structure comprising:

[0007] A telescopic arm assembly includes a fixed base, wherein the fixed base is provided with a movable arm, the movable arm being movably disposed on the fixed base and fixed relative to the fixed base in the circumferential direction;

[0008] The drive assembly includes a rotating nut and a drive mechanism. The rotating nut is rotatably mounted on the fixed base and has a threaded hole with an inner helical groove on the inner side of the threaded hole. The drive mechanism is mounted on the fixed base and is connected to the rotating nut for driving the rotating nut to rotate circumferentially.

[0009] A flexible tube is provided on the outside of which an outer spiral groove is adapted to the inner spiral groove. The flexible tube is screwed into the threaded hole of the rotating nut and is driven by the outer spiral groove and the inner spiral groove. One end of the flexible tube is fixedly set on the movable arm to restrict its circumferential rotation.

[0010] When the driving mechanism drives the rotating nut to rotate circumferentially, the flexible tube extends and retracts within the threaded hole, thereby causing the movable arm to move closer to or away from the fixed base.

[0011] According to one aspect of the technical solution disclosed herein, when the rotary precession telescopic structure based on a flexible tube begins operation, the drive mechanism in the drive assembly is first activated. The drive mechanism is mounted on a fixed base and is connected to the rotating nut via a transmission connection. Upon receiving a work command, the drive mechanism outputs power and drives the rotating nut to rotate circumferentially. When the rotating nut begins to rotate under the action of the drive mechanism, based on the principle of threaded transmission, with the flexible tube circumferentially fixed, the flexible tube will axially extend and retract along the threaded hole of the rotating nut. Finally, the extension and retraction of the flexible tube directly drives the movable arm to move closer to or away from the fixed base, achieving the telescopic function. The background technology mentions that pulley systems are large and difficult to arrange in compact spaces. This solution uses a transmission method combining a flexible tube and a rotating nut, eliminating the need for a complex pulley system structure. Furthermore, the flexible tube possesses a certain degree of flexibility, allowing for bending and extension to some extent according to the actual space conditions. Unlike pulley systems, it does not require a large linear space for arranging pulleys and ropes. Therefore, this solution can be flexibly installed and used in compact spaces, overcoming the spatial limitations of pulley telescopic structures. Meanwhile, flexible tubes can be manufactured using common tube processing techniques such as extrusion and stretching, followed by surface treatment and grooving to create external helical grooves. The machining of the rotating nut is also less difficult than that of a multi-stage trapezoidal lead screw, eliminating the need for complex high-precision thread grinding processes. Therefore, this effectively reduces processing costs and enhances the product's market competitiveness. Equally important, this solution uses flexible tubes instead of rigid chains, whose material and manufacturing costs are typically lower. Flexible tubes can be made from common metallic or non-metallic materials using relatively simple processing techniques, thus reducing the overall cost of the telescopic structure and resolving the issue of excessively high costs associated with rigid chain solutions.

[0012] According to at least one embodiment of the rotary precession telescopic structure of the present disclosure, the driving mechanism includes a motor fixedly mounted on the fixed base, a driving synchronous pulley that is drively connected to the output shaft of the motor, a driven synchronous pulley fixedly mounted on the outside of the rotating nut, and a synchronous belt connecting the driving synchronous pulley and the driven synchronous pulley, wherein the driven synchronous pulley is rotatably mounted on the fixed base.

[0013] According to the technical solution of this embodiment, after the motor starts, its output shaft drives the active synchronous pulley to rotate. Since the active and driven synchronous pulleys are connected by a synchronous belt, the driven synchronous pulley rotates synchronously with the active synchronous pulley. The driven synchronous pulley is fixedly mounted on the outside of the rotating nut, so the rotating nut also rotates accordingly. When the rotating nut rotates, through the cooperation of the outer helical groove on the flexible tube and the inner helical groove on the rotating nut, the flexible tube extends and retracts within the threaded hole of the rotating nut, thereby causing the movable arm to move closer to or away from the fixed base.

[0014] According to at least one embodiment of the rotary precession telescopic structure of this disclosure, the drive assembly further includes a mounting base, a motor adapter plate, a bearing support plate, and a support bearing. The mounting base is fixedly disposed on the fixed base, the motor adapter plate and the bearing support plate are fixedly disposed on the mounting base, the motor is fixedly mounted on the motor adapter plate, and the two ends of the driven synchronous pulley are rotatably disposed on the bearing support plate through the support bearing.

[0015] According to the technical solution of this embodiment, the mounting base provides a mounting foundation for the entire drive assembly, fixing it to the fixed base. The motor adapter plate is used to fix the motor, ensuring its stable mounting on the mounting base. The bearing support plate and support bearing provide support for the driven synchronous pulley, ensuring its smooth rotation. When the motor drives the driving synchronous pulley to rotate, the synchronous belt drives the driven synchronous pulley to rotate, thereby rotating the rotating nut and driving the flexible tube to extend and retract.

[0016] According to at least one embodiment of the rotary precession telescopic structure of the present disclosure, the rotary precession telescopic structure further includes a winding assembly, the winding assembly being provided with a turntable or a receiving groove; the turntable is rotatably disposed on the fixed base, and its outer surface is provided with an auxiliary spiral groove adapted to the flexible tube, the end of the flexible tube opposite to the movable arm is wound around the turntable; the receiving groove is disposed on the fixed base and is used to receive the flexible tube.

[0017] According to the technical solution of this embodiment, during the extension and retraction of the flexible tube, the turntable rotates accordingly based on the direction of movement of the flexible tube. Through the cooperation of the auxiliary spiral groove with the flexible tube, it ensures that the flexible tube can be wound onto the turntable for storage. Alternatively, when the flexible tube is not needed, it can be stored in a storage slot provided on the fixed base, serving to organize and protect the flexible tube.

[0018] According to at least one embodiment of the rotary precession telescopic structure of the present disclosure, a steel wire is fixedly disposed on the outer side of the flexible tube, the steel wire is spirally disposed, and forms the outer spiral groove.

[0019] According to the technical solution of this embodiment, a steel wire spiral is fixed to the outside of the flexible tube to form an outer spiral groove. When the rotating nut rotates, its inner spiral groove meshes with the outer spiral groove on the flexible tube. Under the action of threaded transmission, the flexible tube will extend and retract within the threaded hole of the rotating nut, thereby driving the movable arm to move. The steel wire has high strength, and after being fixed to the outside of the flexible tube to form an outer spiral groove, it can enhance the overall structural strength of the flexible tube, making it less prone to damage when subjected to large tensile and compressive forces.

[0020] According to at least one embodiment of the rotary precession telescopic structure of the present disclosure, a pull rope is provided inside or outside the flexible tube, the pull rope being used to pull the movable arm closer to the fixed base when the flexible tube moves toward the fixed base.

[0021] According to the technical solution of this embodiment, when the flexible tube moves towards the fixed base, the pull ropes located inside or outside the flexible tube will generate tension, pulling the movable arm closer to the fixed base and assisting the flexible tube in completing the movement of the movable arm. The pull ropes can increase the rigidity of the flexible tube when it retracts, thereby reducing retraction lag.

[0022] According to at least one embodiment of the rotary precession telescopic structure of the present disclosure, the flexible tube is a spring tube, a rubber tube, a polyurethane tube, or a nylon tube.

[0023] According to at least one embodiment of the rotary precession telescopic structure of the present disclosure, the telescopic arm assembly includes a sleeve assembly, the sleeve assembly includes a plurality of sleeves nested in sequence, the sleeves are telescopically movable along the length direction, the first-stage sleeve is fixedly disposed on the fixed base, and the last-stage sleeve is configured as the movable arm; the flexible tube passes through the interior of each sleeve.

[0024] According to the technical solution of this embodiment, several sleeves in the sleeve assembly are nested sequentially, and the sleeves can extend and retract along their length. The first-stage sleeve is fixed on a fixed base, and the last-stage sleeve acts as a movable arm. A flexible tube is inserted inside each sleeve. When the rotating nut drives the flexible tube to extend or retract, the flexible tube will move the last-stage sleeve (movable arm), and the sleeves will adjust accordingly. The flexible tube, inserted inside the sleeve, protects the flexible tube, preventing it from being impacted or scratched by external objects during operation, thus extending the service life of the flexible tube.

[0025] According to at least one embodiment of the rotary precession telescopic structure of the present disclosure, a stop is provided between adjacent sleeves to limit the maximum distance of telescopic movement of adjacent sleeves.

[0026] According to the technical solution of this embodiment, a stop is provided between adjacent sleeves. When the sleeves extend or retract, the stop restricts the movement distance of the adjacent sleeves. When the sleeves reach their maximum distance, the stop prevents the sleeves from moving further, preventing the sleeves from dislodging and ensuring the normal operation of the sleeve assembly.

[0027] According to at least one embodiment of the rotary precession telescopic structure of the present disclosure, an IMU is provided at the end of the final stage sleeve, the IMU being used to detect the end position and motion state of the sleeve assembly.

[0028] According to the technical solution of this embodiment, the real-time position and motion status information provided by the IMU enables the control system to control the movement of the movable arm more precisely, thereby improving the automation level and control accuracy of the tooling.

[0029] According to at least one embodiment of the rotary precession telescopic structure of the present disclosure, the rotary precession telescopic structure further includes a wrist assembly disposed on the movable arm. The wrist assembly includes a first rotary servo, a second rotary servo, and an end effector rotary servo connected in sequence. The first rotary servo is mounted on the movable arm, and the end effector rotary servo is used to mount an end effector. The rotation planes of the first rotary servo, the second rotary servo, and the end effector rotary servo are perpendicular to each other to form a three-degree-of-freedom system.

[0030] According to the technical solution of this embodiment, the wrist assembly is composed of a first rotary servo, a second rotary servo, and an end effector rotary servo connected sequentially. The first rotary servo is mounted and fixed on the movable arm, serving as the basic support part of the wrist assembly. The second rotary servo is connected to the output shaft of the first rotary servo and can rotate around its rotation axis under the drive of the first rotary servo. The end effector rotary servo is connected to the output shaft of the second rotary servo and can also rotate around its corresponding axis under the drive of the second rotary servo. The end effector rotary servo is used to mount an end effector, which can be a gripper, suction cup, or other tool. During operation, by controlling the rotation angle of the three rotary servos respectively, the end effector can move flexibly in three mutually perpendicular directions, meeting the operational needs of the end effector at different angles and positions, and improving the flexibility and applicability of the end effector. Attached Figure Description

[0031] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0032] Figure 1 This is a perspective view of a rotational precession telescopic structure according to one embodiment of the present disclosure.

[0033] Figure 2 yes Figure 1 A magnified view of region M in the middle.

[0034] Figure 3 This is a partial perspective view of a rotational precession telescopic structure according to one embodiment of the present disclosure.

[0035] Figure 4 yes Figure 3 The main view.

[0036] Figure 5 yes Figure 4 Sectional view at section A.

[0037] Figure 6 This is a perspective view of the end of a rotary precession telescopic structure according to one embodiment of the present disclosure.

[0038] Figure 7 This is a first-view perspective view of a wrist assembly according to one embodiment of the present disclosure.

[0039] Figure 8 This is a second-view perspective view of a wrist assembly according to one embodiment of the present disclosure.

[0040] Figure 9 This is a perspective view of a servo box assembly according to one embodiment of the present disclosure.

[0041] Figure 10 This is a side view of a servo box assembly according to one embodiment of the present disclosure.

[0042] Figure 11 yes Figure 10 Sectional view of section B.

[0043] The specific labels in the attached figures are as follows:

[0044] 100 Telescopic boom assembly

[0045] 110 Fixed base

[0046] 120 sleeve

[0047] 121 First-stage sleeve

[0048] 122 Final stage sleeve

[0049] 123 Stop section

[0050] 130 IMU

[0051] 200 driver components

[0052] 210 Rotary Nut

[0053] 211 Threaded hole

[0054] 212 Internal spiral groove

[0055] 220 drive mechanism

[0056] 221 motor

[0057] 222 Active Synchronous Belt Pulley

[0058] 223 Driven synchronous belt pulley

[0059] 224 Synchronous Belt

[0060] 225 Mounting substrate

[0061] 226 Motor Adapter Board

[0062] 227 Bearing Support Plate

[0063] 228 Support bearing

[0064] 300 flexible pipe

[0065] 310 External spiral groove

[0066] 320 steel wire

[0067] 330 pull rope

[0068] 400 coil assembly

[0069] 410 turntable

[0070] 411 Auxiliary spiral groove

[0071] 500 wrist components

[0072] 510 Servo Box Assembly

[0073] 511 Horizontal Rotation Servo

[0074] 512 Servo Box Cover

[0075] 513 Servo Box Housing

[0076] 514 Bearing Support

[0077] 515 Rotary Axis

[0078] 516 Deep Groove Ball Bearing

[0079] 517 Connecting Support

[0080] 518 Adapter Mounting Plate

[0081] 520 First Servo Connector Plate

[0082] 530 Pitch and Rotation Servo

[0083] 540 End Rotation Servo

[0084] 550 Second Servo Connector Plate

[0085] 560 Third Servo Connector

[0086] 570 Cable clamp

[0087] 600 cable chain. Detailed Implementation

[0088] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0089] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0090] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0091] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0092] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0093] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0094] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0095] Existing rotary precession telescopic structures generally suffer from large space requirements and high product costs.

[0096] To address the aforementioned technical problems, this embodiment provides a rotary precession telescopic structure.

[0097] Figure 1 This is a perspective view of a rotational precession telescopic structure according to one embodiment of the present disclosure. Figure 2 yes Figure 1 A magnified view of region M in the middle.

[0098] like Figure 1 and Figure 2 As shown, the rotary precession telescopic structure includes: telescopic arm assembly 100, drive assembly 200, flexible tube 300, winding assembly 400, wrist assembly 500, and drag chain 600.

[0099] The telescopic arm assembly 100 includes a fixed base 110 and a movable arm. The movable arm is movably disposed on the fixed base 110 and is fixed relative to the fixed base 110 in the circumferential direction. Specifically, the telescopic arm assembly 100 includes a sleeve assembly, which includes a plurality of sleeves 120 nested sequentially. The sleeves 120 can telescopically move along the length direction. The first-stage sleeve 121 is fixedly disposed on the fixed base 110, and the last-stage sleeve 122 is configured as the movable arm. A flexible tube 300 passes through the interior of each sleeve 120, and the sleeves 120 can telescopically move along the length direction.

[0100] A stop 123 is provided between adjacent sleeves 120 to limit the maximum distance of telescopic movement of adjacent sleeves 120. When the sleeves 120 telescopically move, the stop 123 restricts the movement distance of the adjacent sleeves 120. When the sleeves 120 reach the maximum distance, the stop 123 prevents the sleeves 120 from moving further, preventing the sleeves 120 from dislodging and ensuring the normal operation of the sleeve assembly. The stop 123 may be an annular boss and retaining ring provided at the end of the adjacent sleeves 120, a stop block and limiting groove provided at the end of the sleeves 120, or a mechanical stop structure provided between adjacent sleeves 120.

[0101] The aforementioned movable arm can be fixed relative to the fixed base 110 in the circumferential direction by setting the cross-sectional shape of the sleeve 120 to a non-circular shape such as a square or dovetail. Since the first sleeve 121 is fixed on the fixed base 110 and cannot rotate, the other sleeves 120 also cannot rotate due to the limitation of their non-circular contours and can only move along the length direction.

[0102] To facilitate the detection of the end position and motion status of the telescopic boom, an IMU 130 is installed at the end of the final stage sleeve 122. The IMU 130 is used to detect the end position and motion status of the sleeve assembly. The real-time position and motion status information provided by the IMU 130 enables the control system to more accurately control the movement of the telescopic boom, improving the automation level and control accuracy of the telescopic boom.

[0103] Figure 3 This is a partial perspective view of a rotational precession telescopic structure according to one embodiment of the present disclosure. Figure 4 yes Figure 3 The main view, Figure 5 yes Figure 4 Sectional view at section A.

[0104] like Figures 3 to 5 As shown, the drive assembly 200 includes a rotating nut 210 and a drive mechanism 220. The rotating nut 210 is rotatably mounted on the fixed base 110 and has a threaded hole 211. An inner spiral groove 212 is provided on the inner side of the threaded hole 211. The drive mechanism 220 is mounted on the fixed base 110 and is connected to the rotating nut 210 for driving the rotating nut 210 to rotate circumferentially.

[0105] For example, see Figure 3 and Figure 4As shown, the drive mechanism 220 includes a motor 221 fixedly mounted on a fixed base 110, a driving synchronous pulley 222 driven by the output shaft of the motor 221, a driven synchronous pulley 223 fixedly mounted on the outside of a rotating nut 210, and a synchronous belt 224 connecting the driving synchronous pulley 222 and the driven synchronous pulley 223. The driven synchronous pulley 223 is rotatably mounted on the fixed base 110. During operation, after the motor 221 starts, its output shaft drives the driving synchronous pulley 222 to rotate. Since the driving synchronous pulley 222 and the driven synchronous pulley 223 are connected by the synchronous belt 224, the driven synchronous pulley 223 rotates synchronously with the driving synchronous pulley 222. Because the driven synchronous pulley 223 is fixedly mounted on the outside of the rotating nut 210, the rotating nut 210 also rotates accordingly. When the rotating nut 210 rotates, it cooperates with the outer spiral groove 310 on the flexible tube 300 and the inner spiral groove 212 on the rotating nut 210, causing the flexible tube 300 to extend and retract within the threaded hole 211 of the rotating nut 210, thereby driving the final sleeve 122 to move closer to or away from the fixed base 110.

[0106] like Figure 3 and Figure 4 As shown, the drive assembly 200 further includes a mounting base 225, a motor adapter plate 226, a bearing support plate 227, and a support bearing 228. The mounting base 225 is fixedly mounted on the fixed base 110. The motor adapter plate 226 and the bearing support plate 227 are fixedly mounted on the mounting base 225. The motor 221 is fixedly mounted on the motor adapter plate 226. The two ends of the driven synchronous pulley 223 are rotatably mounted on the bearing support plate 227 via the support bearing 228. During assembly, the mounting base 225 is first horizontally mounted on the fixed base 110 to ensure a secure installation. Then, the motor adapter plate 226 and the bearing support plate 227 are mounted on the mounting base 225 according to the designed positions and secured with bolts or other fasteners. The motor 221 is then mounted on the motor adapter plate 226, and the position of the motor 221 is adjusted so that its output shaft is aligned with the subsequent transmission components. The driven synchronous pulley 223 is placed between the bearing support plates 227, and its two ends are reliably supported by the support bearings 228 to ensure that the driven synchronous pulley 223 can rotate smoothly. In this way, the stability and transmission accuracy of the drive assembly 200 are improved through the reasonable installation of each component.

[0107] Figure 6 This is a perspective view of the end of a rotary precession telescopic structure according to one embodiment of the present disclosure.

[0108] like Figure 1 , Figure 5 and Figure 6As shown, the flexible tube 300 has an outer spiral groove 310 adapted to the inner spiral groove 212 on its outer side. The flexible tube 300 is screwed into the threaded hole 211 of the rotating nut 210, and the outer spiral groove 310 and the inner spiral groove 212 are in a transmission engagement. One end of the flexible tube 300 is fixedly set to the end sleeve 122, such as by bolts, to restrict its circumferential rotation. When the drive mechanism 220 drives the rotating nut 210 to rotate circumferentially, the flexible tube 300 moves telescopically within the threaded hole 211, thereby causing the end sleeve 122 to move closer to or away from the fixed base 110.

[0109] The flexible tube 300 can be one of the following: spring tube, rubber tube, polyurethane tube, nylon tube, or other flexible tubes that have a certain supporting strength in the axial direction to push the sleeve 120 to move.

[0110] Among them, such as Figure 5 As shown, the outer helical groove 310 structure can be considered as a screw thread structure, and the pitch of the outer helical groove is equivalent to the diameter of the steel wire 320. The inner side of the rotating nut 210 is provided with an inner helical groove 212 that mates with the outer helical groove 310 of the flexible tube 300. The inner helical groove 212 can be considered as a screw nut internal thread structure, and it can cooperate with the outer helical groove 310 of the flexible tube 300 to form a mating pair relationship similar to that of a screw and a screw nut.

[0111] like Figure 5 As shown, the outer spiral groove 310 of the aforementioned flexible tube 300 can be achieved through existing methods, such as surface treatment and groove processing. To enhance the structural strength of the flexible tube 300, and to strengthen the structural strength of the flexible tube 300 while simultaneously creating the outer spiral groove 310, a steel wire 320 is fixedly installed on the outer side of the flexible tube 300. The steel wire 320 is spirally arranged to form the outer spiral groove 310. That is, the outer side of the flexible tube 300 has a ready-made outer spiral groove 310 structure due to the spiral forming process of the steel wire 320. The steel wire 320 has high strength, and after being fixed on the outer side of the flexible tube 300 to form the outer spiral groove 310, it can enhance the overall structural strength of the flexible tube 300, making it less prone to damage when subjected to large tensile and compressive forces.

[0112] like Figure 3As shown, a pull rope 330 is provided inside or outside the flexible tube 300. The pull rope 330 is used to pull the movable arm closer to the fixed base 110 when the flexible tube 300 moves towards the fixed base 110. The pull rope 330 can be a steel wire rope or a nylon rope, and is arranged coaxially with or parallel to the axis of the flexible tube 300. When the flexible tube 300 moves towards the fixed base 110, the pull rope 330 provided inside or outside the flexible tube 300 will generate tension, pulling the final sleeve 122 closer to the fixed base 110, assisting the flexible tube 300 in completing the movement of the final sleeve 122. The pull rope 330 can increase the immediacy of the flexible tube 300's retraction, thereby reducing retraction lag.

[0113] See Figure 2 and Figure 6 As shown, the winding assembly 400 is equipped with a turntable 410 or a storage slot. The turntable 410 is rotatably mounted on the fixed base 110, and its outer surface is provided with an auxiliary spiral groove 411 adapted to the flexible tube 300. The end of the flexible tube 300 facing away from the movable arm is wound around the turntable 410, and its inner ring can be positioned by the auxiliary spiral groove 411. The storage slot is provided on the fixed base 110 and is used to store the flexible tube 300. Due to its small footprint, it can meet the needs of a more compact arrangement. During the extension and retraction of the flexible tube 300, the turntable 410 will rotate accordingly according to the direction of movement of the flexible tube 300. Through the cooperation of the auxiliary spiral groove 411 and the outer spiral groove 310 of the flexible tube 300, the flexible tube 300 can be wound on the turntable 410 for storage. Alternatively, when the flexible tube 300 is not in use, it can be stored in the storage slot provided on the fixed base 110, which serves to organize and protect the flexible tube 300.

[0114] Figure 7 This is a first-view perspective view of a wrist assembly according to one embodiment of the present disclosure. Figure 8 This is a second-view perspective view of a wrist assembly according to one embodiment of the present disclosure.

[0115] See Figure 7 and Figure 8 As shown, the wrist assembly 500 is disposed on the movable arm, i.e. the final sleeve 122. The wrist assembly 500 includes a first rotary servo, a second rotary servo, and an end effector rotary servo 540 connected in sequence. The first rotary servo is mounted on the movable arm, and the end effector rotary servo 540 is used to mount the end effector. The rotation planes of the first rotary servo, the second rotary servo, and the end effector rotary servo 540 are perpendicular to each other to form a three-degree-of-freedom system.

[0116] The wrist assembly 500 consists of a first rotary servo, a second rotary servo, and an end effector rotary servo 540 connected sequentially. The first rotary servo is mounted and fixed on the movable arm, serving as the basic support component of the wrist assembly 500. The second rotary servo is connected to the output shaft of the first rotary servo and can rotate around its axis under the drive of the first rotary servo. The end effector rotary servo 540 is connected to the output shaft of the second rotary servo and can also rotate around its corresponding axis under the drive of the second rotary servo. The end effector rotary servo 540 is used to mount an end effector, which can be a gripper, suction cup, or other tool.

[0117] The wrist assembly 500 includes a servo housing assembly 510, a first servo connection plate 520, a pitch / rotation servo 530, a second servo connection plate 550, a third servo connection plate 560, and an end effector servo 540. The servo housing assembly 510 contains a horizontal rotation servo 511. The horizontal rotation servo 511 and the pitch / rotation servo 530 are, respectively, the first and second rotation servos mentioned above. The entire wrist assembly 500 forms a 3-DOF system through the interconnection of the three servos. The end effector connected to the end effector interface of the end effector will have more flexible movements.

[0118] Figure 9 This is a perspective view of a servo box assembly according to one embodiment of the present disclosure. Figure 10 This is a side view of a servo box assembly according to one embodiment of the present disclosure. Figure 11 yes Figure 10 Sectional view of section B.

[0119] See Figures 9 to 11 As shown, exemplarily, the servo housing assembly 510 includes a servo housing cover 512, a servo housing shell 513, a bearing support 514, a horizontally rotating servo 511, a rotating shaft 515, a deep groove ball bearing 516, a connecting bracket 517, and an adapter mounting plate 518. The horizontally rotating servo 511 is installed inside the servo housing shell 513, and its output flange is connected to the rotating shaft 515 for outputting rotational torque. The rotating shaft 515 is supported on the bearing support via a bearing to ensure stable support of the rotating shaft 515. The connecting bracket 517 clamps the outer surface of the rotating shaft 515 for secure fixing using a clamping method. The connecting bracket 517 is fixed to the adapter mounting plate 518 with screws. At this time, the rotation of the servo is converted through the stably supported rotating shaft 515 into the rotation of the bottom adapter mounting plate 518 around the line of the rotating shaft 515, providing rotational freedom in the horizontal plane.

[0120] like Figure 1 and Figure 2As shown, the wiring harness of the wrist assembly 500 and the end effector (not shown) can be secured using the cable retainer 570. The secured wiring harness can then be routed via a cable chain 600 to one side of the telescopic arm mounting base 110.

[0121] Depending on the specific circumstances (such as the number of harnesses, overall outer diameter, and flexibility), the internal cavity of the flexible tube 300 can also serve as a wiring space for the wrist assembly 500 and the end effector wiring harness. By rationally matching the actual turning radius of the flexible tube 300 structure, it is possible to eliminate the need for the telescopic wiring cable chain 600. Therefore, the overall system cost can be further reduced.

[0122] In summary, when the rotary precession telescopic structure based on the flexible tube 300 in this embodiment starts working, the drive mechanism 220 in the drive assembly 200 is first activated. The drive mechanism 220 is mounted on the fixed base 110 and is connected to the rotating nut 210. When the drive mechanism 220 receives a working command, it outputs power and drives the rotating nut 210 to rotate circumferentially. When the rotating nut 210 starts to rotate under the action of the drive mechanism 220, according to the principle of threaded transmission, with the flexible tube 300 circumferentially fixed, the flexible tube 300 will move axially along the threaded hole 211 of the rotating nut 210. Finally, the telescopic movement of the flexible tube 300 directly drives the movable arm to move closer to or away from the fixed base 110, realizing the telescopic function. It should be noted that the background art mentions that the pulley system is relatively large and difficult to arrange in a compact space. This solution employs a transmission method using a flexible tube 300 and a rotating nut 210. It avoids the complex pulley system structure and, due to the flexibility of the tube 300, allows for bending and stretching to some extent according to available space. Unlike pulley systems, it doesn't require a large linear space for arranging pulleys and ropes. Therefore, this solution can be flexibly installed and used in compact spaces, overcoming the spatial limitations of pulley telescopic structures. Furthermore, the flexible tube 300 can be manufactured using common tube processing techniques such as extrusion and stretching, followed by surface treatment and grooving to create the external helical groove 310. The machining of the rotating nut 210 is also less difficult than that of a multi-stage trapezoidal screw, eliminating the need for complex high-precision thread grinding processes. This effectively reduces processing costs and enhances the product's market competitiveness. Equally important, this solution uses a flexible tube 300 instead of a rigid chain, whose material and manufacturing costs are typically lower. The flexible tube 300 can be made from common metal or non-metal materials using relatively simple processing techniques, thus reducing the overall cost of the telescopic structure and resolving the issue of excessively high costs associated with rigid chain solutions.

[0123] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0124] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0125] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A rotary precession telescopic structure, characterized in that, include: A telescopic arm assembly includes a fixed base, wherein the fixed base is provided with a movable arm, the movable arm being movably disposed on the fixed base and fixed relative to the fixed base in the circumferential direction; The drive assembly includes a rotating nut and a drive mechanism. The rotating nut is rotatably mounted on the fixed base and has a threaded hole with an inner helical groove on the inner side of the threaded hole. The drive mechanism is mounted on the fixed base and is connected to the rotating nut for driving the rotating nut to rotate circumferentially. A flexible tube is provided on the outside of which an outer spiral groove is adapted to the inner spiral groove. The flexible tube is screwed into the threaded hole of the rotating nut and is driven by the outer spiral groove and the inner spiral groove. One end of the flexible tube is fixedly set on the movable arm to restrict its circumferential rotation. When the driving mechanism drives the rotating nut to rotate circumferentially, the flexible tube extends and retracts within the threaded hole, thereby causing the movable arm to move closer to or away from the fixed base.

2. The rotary precession telescopic structure according to claim 1, characterized in that, The drive mechanism includes a motor fixedly mounted on the fixed base, a driving synchronous pulley that is drively connected to the output shaft of the motor, a driven synchronous pulley fixedly mounted on the outside of the rotating nut, and a synchronous belt connecting the driving synchronous pulley and the driven synchronous pulley. The driven synchronous pulley is rotatably mounted on the fixed base.

3. The rotary precession telescopic structure according to claim 2, characterized in that, The drive assembly further includes a mounting base, a motor adapter plate, a bearing support plate, and a support bearing. The mounting base is fixedly disposed on the fixed base, the motor adapter plate and the bearing support plate are fixedly disposed on the mounting base, the motor is fixedly mounted on the motor adapter plate, and the two ends of the driven synchronous pulley are rotatably disposed on the bearing support plate through the support bearing.

4. The rotary precession telescopic structure according to claim 1, characterized in that, The rotary precession telescopic structure also includes a winding assembly, which is provided with a turntable or a storage groove. The turntable is rotatably disposed on the fixed base, and its outer surface is provided with an auxiliary spiral groove adapted to the flexible tube. The end of the flexible tube opposite to the movable arm is wound around the turntable. The storage groove is disposed on the fixed base and is used to store the flexible tube.

5. The rotary precession telescopic structure according to claim 1, characterized in that, A pull rope is provided inside or outside the flexible tube. The pull rope is used to pull the movable arm closer to the fixed base when the flexible tube moves towards the fixed base.

6. The rotary precession telescopic structure according to claim 1, characterized in that, The flexible tube is a spring tube, rubber tube, polyurethane tube, or nylon tube.

7. The rotary precession telescopic structure according to claim 1, characterized in that, The telescopic arm assembly includes a sleeve assembly, which includes a plurality of sleeves nested in sequence, and the sleeves can telescopically move along the length direction. The first-stage sleeve is fixedly set on the fixed base, and the last-stage sleeve is configured as the movable arm. The flexible tube passes through the interior of each sleeve.

8. The rotary precession telescopic structure according to claim 7, characterized in that, A stop is provided between adjacent sleeves to limit the maximum distance of telescopic movement of adjacent sleeves.

9. The rotary precession telescopic structure according to claim 7, characterized in that, An IMU is provided at the end of the sleeve in the final stage. The IMU is used to detect the end position and movement state of the sleeve assembly.

10. The rotary precession telescopic structure according to claim 1, characterized in that, The rotary precession telescopic structure also includes a wrist assembly disposed on the movable arm. The wrist assembly includes a first rotary servo, a second rotary servo, and an end effector rotary servo connected in sequence. The first rotary servo is mounted on the movable arm, and the end effector rotary servo is used to mount an end effector. The rotation planes of the first rotary servo, the second rotary servo, and the end effector rotary servo are perpendicular to each other to form a three-degree-of-freedom system.

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