CN101323420B - Cable parallel mechanism automatic tracking steering transmission gear - Google Patents
Cable parallel mechanism automatic tracking steering transmission gear Download PDFInfo
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- CN101323420B CN101323420B CN2008101167707A CN200810116770A CN101323420B CN 101323420 B CN101323420 B CN 101323420B CN 2008101167707 A CN2008101167707 A CN 2008101167707A CN 200810116770 A CN200810116770 A CN 200810116770A CN 101323420 B CN101323420 B CN 101323420B
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- pulley
- rope stretching
- hollow shaft
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 title claims abstract description 37
- 238000012423 maintenance Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 101000911390 Homo sapiens Coagulation factor VIII Proteins 0.000 description 1
- 102000057593 human F8 Human genes 0.000 description 1
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- 229940047431 recombinate Drugs 0.000 description 1
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Abstract
The invention relates to an automatic tracking steering transmission device of a rope parallel mechanism which is characterized in that the device comprises an endless rope transmission mechanism, a pulley steering tracking mechanism, a weight mechanism, a bracket, a base and a rope; the endless rope transmission mechanism and the bracket are respectively arranged at the two sides of the top of the base; the endless rope transmission mechanism comprises a wire-out driving wheel and a wire-out driven wheel; the wire-out driving wheel and the wire-out driven wheel are respectively processed with ring grooves which have consistent multi-channel pitch circles and are independently sealed, and are staggered by half groove position when being installed; the pulley steering tracking mechanism comprises a bottom wire-out pulley, a hollow shaft seat, a hollow shaft, a rotating frame and a top wire-out pulley; the bottom wire-out pulley is arranged on the base at the outside of the bracket; the hollow shaft seat is fixed at the top of the bracket and arranged on the hollow shaft seat vertically and rotatablely by two bearings; the rotating frame is fixed on the hollow shaft; the top wire-out pulley is fixed on the rotating frame. The invention is an ideal transmission device of the rope parallel mechanism and can be widely applied to the rope transmission of various rope parallel mechanisms.
Description
Technical field
The present invention relates to a kind of driving device, particularly about a kind of cable parallel mechanism automatic tracking steering transmission gear.
Background technology
Parallel institution more and more receives publicity and uses, and the long rigidity that causes is not high but can there be Retractive leg in parallel institution in the application of large corporation, stressed limited problem.As shown in Figure 4, the combination of rope and parallel institution just can provide big control effort and large span, cable parallel mechanism has that working space is big, load-carrying capacity is high, easy to assemble, can recombinate, advantage such as degree of modularity height, cheap and kinematic velocity are fast.Cable parallel mechanism has been applied in 500 meter radio telescopes at present, makes the little weight of large-scale radio telescope feed realize becoming possibility.In the present cable parallel mechanism, transmission device all is to adopt single cylinder wound form winch basically, goes out rope pulley and adopts dead sheave more.When this cable parallel mechanism moves; terminal location changes, and rope is owing to produce position deviation by dead sheave, and winch mechanism also can bring the deviation in the rope lengths variation; these deviation regular meetings cause the rope unbalance stress in the parallel institution, rope work wearing and tearing easily for a long time.Even adopt the method for measuring instrument and closed loop control, its precision also is difficult to guarantee, and control also is a difficult problem in fact the time.
Summary of the invention
At the problems referred to above, the objective of the invention is to propose a kind of rope stretching position consistency, the stressed all even control simple rope parallel mechanism automatic tracking steering transmission gear of rope.
For achieving the above object, the present invention takes following technical scheme: a kind of cable parallel mechanism automatic tracking steering transmission gear, it is characterized in that: it comprises that a continuous rope transmission device, a pulley turn to follower, a balance weight mechanism, a support, a base and a rope, and described continuous rope transmission device and support are separately positioned on described base top both sides; Described continuous rope transmission device comprises a rope stretching driving wheel and a rope stretching flower wheel, described rope stretching driving wheel connects the mouth of a motor, respectively be provided with the consistent and independent osed top annular of multiple tracks pitch circle grooving on described rope stretching driving wheel and the rope stretching flower wheel, and described rope stretching driving wheel and the rope stretching flower wheel groove position of staggering half when installing; Described pulley turns to follower to comprise pulley at the bottom of the rope stretching, a hollow axle bed, a hollow shaft, a swivel mount and a rope stretching top block, pulley is arranged on the base in the described support outside at the bottom of the described rope stretching, corresponding with it, described hollow axle bed is fixed on described support topmost, vertically on the described hollow axle bed be provided with two bearing seats, be fixed with two bearings on the described bearing seat, described hollow shaft two ends are arranged in two described bearings, described swivel mount is fixed on the middle part of described hollow shaft, and described rope stretching top block is fixed on the described swivel mount; Described balance weight mechanism comprises a rope end rope sheave, rope top rope sheave and a counterweight, and described time rope end rope sheave is fixed on the described support bottom with described continuous rope transmission device homonymy, and described time rope top rope sheave is fixed on the top of described support; Described rope one end connects described counterweight, the other end enters described continuous rope transmission device after walking around described time rope top rope sheave successively and returning rope end rope sheave, twine each described grooving of described rope stretching driving wheel and rope stretching flower wheel in proper order at rope described in the described continuous rope transmission device, and then walk around pulley at the bottom of the described rope stretching, pass described hollow shaft, and lay out described rope stretching top block.
At the bottom of the described rope stretching on the pitch circle of pulley and rope stretching top block the rope center consistent, and maintenance is consistent with described hollow shaft direction.
The described swivel mount in the described rope stretching top block outside is provided with a leading sheave, and described rope lays out described leading sheave after walking around described rope stretching top block.
The present invention is owing to take above technical scheme, and it has the following advantages; 1, respectively is processed with the consistent and independent osed top annular of multiple tracks pitch circle grooving in the continuous rope transmission device of the present invention on the scene 2 rope sheave, and the scene 2 rope sheave groove position of staggering half when installing, after rope is walked around each grooving of rope stretching driving wheel and rope stretching flower wheel in proper order, reach the effect of a plug helix rope sheave, can guarantee the conformability of rope stretching position and length, thereby improve the control accuracy of rope.2, the pulley among the present invention turns to the follower can be according to the position difference of weight in cable parallel mechanism, change the rope stretching angle and use the rope outlet direction of rope top block always towards weight, reach the purpose of automatic tracking steering, guarantee the rope stretching length of rope, avoid because the long phenomenon that changes the uneven rope unbalance stress that causes of rope, thereby reduce the wearing and tearing of rope and rope sheave, increase the service life of rope.3, the balance weight mechanism among the present invention has effectively reduced exerting oneself of motor, simultaneously whole cable parallel mechanism is played the pretension effect.The present invention is a kind of driving device of desirable cable parallel mechanism, can be widely used in the cord drive of all kinds of cable parallel mechanisms.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention
Fig. 2 is a continuous rope transmission device scheme drawing of the present invention
Fig. 3 is that pulley of the present invention turns to the follower partial enlarged drawing
Fig. 4 is the scheme drawing of the present invention in cable parallel mechanism
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1, the present invention includes a continuous rope transmission device 1, a pulley turns to follower 2, a balance weight mechanism 3, a support 4, a base 5 and a rope 6, support 4 is fixed on base 5 end faces one side, and continuous rope transmission device 1 is arranged on base 5 end face opposite sides.
As shown in Figure 1 and Figure 2, continuous rope transmission device 1 comprises a rope stretching driving wheel 11 and a rope stretching flower wheel 12, and rope stretching driving wheel 11 connects the mouth of a motor 13.Respectively be processed with the consistent and independent osed top annular of multiple tracks pitch circle grooving 14 on rope stretching driving wheel 11 and the rope stretching flower wheel 12, and rope stretching driving wheel 11 and the rope stretching flower wheel 12 groove position of staggering half when installing.
As Fig. 1, shown in Figure 3, pulley turns to follower 2 to comprise pulley 21 at the bottom of the rope stretching, one hollow axle bed 22, one hollow shaft 23, one swivel mount 24, an one rope stretching top block 25 and a leading sheave 26, pulley 21 close support 4 arranged outside are on base 5 at the bottom of the rope stretching, corresponding with it, hollow axle bed 22 is fixed on support 4 topmosts, vertically on the hollow axle bed 22 be provided with two bearing seats 27, be fixed with a bearing 28 on each bearing seat 27, hollow shaft 23 two ends are arranged in two bearings 28, swivel mount 24 is fixed on the middle part of hollow shaft 23, rope stretching top block 25 and leading sheave 26 are fixed on the swivel mount 24, and leading sheave 26 is positioned at the outside of rope stretching top block 25.The centre of pitch circle of pulley 21 and rope stretching top block 25 is consistent with the center of hollow shaft 23 at the bottom of the rope stretching.
As shown in Figure 1, balance weight mechanism 3 comprises rope end rope sheave 31, rope top rope sheave 32 and a counterweight 33, returns rope end rope sheave 31 and is fixed on support 4 bottoms with continuous rope transmission device 1 homonymy, goes back to the top that rope top rope sheave 32 is fixed on support 4.
One end of rope 6 connects counterweight 33, and the other end is walked around back rope top rope sheave 32 successively, returned rope end rope sheave 31, enters continuous rope transmission device 1.In continuous rope transmission device 1, rope 6 is at first walked around first grooving 14 of rope stretching flower wheel 12 1 sides through first grooving 14 of rope stretching driving wheel 11, go back to second grooving 14 walking around rope stretching driving wheel 11 then, walk around second grooving 14 of rope stretching flower wheel 12 again ... and so forth.The groove position because rope stretching driving wheel 11 and rope stretching flower wheel 12 have staggered half, therefore make that rope stretching is master and slave takes turns that osed top annular grooving 14 is combined to form a plug helix rope sheave on 11,12, can solve the superimposed and a series of error problems that produce of rope stretching evolution that rope 6 occurs and rope like this.The rope 6 that comes out from continuous rope transmission device 1 is connected the weight 7 (as shown in Figure 4) that will control through pulley 21, hollow shaft 23, rope stretching top block 25 and leading sheave 26 backs at the bottom of the rope stretching successively.
In a cable parallel mechanism, a plurality of apparatus of the present invention can be set, when needs operated, the motor 13 of each device drove rope stretching driving wheel 11 and rotates, and connected rope stretching flower wheel 12 by rope 6 and rotated.The directional tagging of rope 6 pulley 21 at the bottom of rope stretching by the centre hole of hollow shaft 23, is walked around the rope stretching top block 25 and the leading sheave 26 that are fixed on the swivel mount 24 and is driven weight 7 motions.The counterweight 33 of balance weight mechanism 3 can be strained rope 6 at any time, guarantees the 1 normal actv. application of continuous rope transmission device, makes rope 6 can not skid in grooving 14.
Carry in the process of weight 7 at cable parallel mechanism, when weight 7 moves to certain some time, because each apparatus of the present invention is with respect to the position difference of weight 7, therefore weight 7 can produce an application force by 6 pairs of rope stretching top blocks of rope 25, and this application force can make swivel mount 24 drive hollow shafts 23 rotate around bearing seat 27, thereby the rope outlet direction that the change angle makes rope stretching top block 25 and leading sheave 26 reaches the purpose of automatic tracking steering always towards weight 7.
Therefore 26 directional taggings that play rope 6 of leading sheave in the foregoing description also can select not to be provided with leading sheave 26.
Although disclose preferred embodiment of the present invention and accompanying drawing for the purpose of illustration, its purpose is to help to understand content of the present invention and implement according to this, but person skilled in the art, without departing from the spirit and scope of the invention and the appended claims, can do various replacements, variation and retouching.Therefore, the present invention should not be limited to most preferred embodiment and the disclosed content of accompanying drawing, and protection scope of the present invention is as the criterion with the scope that appending claims was defined.
Claims (3)
1. cable parallel mechanism automatic tracking steering transmission gear, it is characterized in that: it comprises that a continuous rope transmission device, a pulley turn to follower, a balance weight mechanism, a support, a base and a rope, and described continuous rope transmission device and support are separately positioned on described base top both sides;
Described continuous rope transmission device comprises a rope stretching driving wheel and a rope stretching flower wheel, described rope stretching driving wheel connects the mouth of a motor, respectively be provided with the consistent and independent osed top annular of multiple tracks pitch circle grooving on described rope stretching driving wheel and the rope stretching flower wheel, and described rope stretching driving wheel and the rope stretching flower wheel groove position of staggering half when installing;
Described pulley turns to follower to comprise pulley at the bottom of the rope stretching, a hollow axle bed, a hollow shaft, a swivel mount and a rope stretching top block, pulley is arranged on the base in the described support outside at the bottom of the described rope stretching, corresponding with it, described hollow axle bed is fixed on described support topmost, vertically on the described hollow axle bed be provided with two bearing seats, be fixed with a bearing on each described bearing seat, described hollow shaft two ends are arranged in two described bearings, described swivel mount is fixed on the middle part of described hollow shaft, and described rope stretching top block is fixed on the described swivel mount;
Described balance weight mechanism comprises a rope end rope sheave, rope top rope sheave and a counterweight, and described time rope end rope sheave is fixed on the described support bottom with described continuous rope transmission device homonymy, and described time rope top rope sheave is fixed on the top of described support;
Described rope one end connects described counterweight, the other end enters described continuous rope transmission device after walking around described time rope top rope sheave successively and returning rope end rope sheave, twine each described grooving of described rope stretching driving wheel and rope stretching flower wheel in proper order at rope described in the described continuous rope transmission device, and then walk around pulley at the bottom of the described rope stretching, pass described hollow shaft, and lay out described rope stretching top block.
2. a kind of cable parallel mechanism automatic tracking steering transmission gear as claimed in claim 1 is characterized in that: at the bottom of the described rope stretching on the pitch circle of pulley and rope stretching top block the rope center consistent, and maintenance is consistent with described hollow shaft direction.
3. a kind of cable parallel mechanism automatic tracking steering transmission gear as claimed in claim 1 or 2, it is characterized in that: the described swivel mount in the described rope stretching top block outside is provided with a leading sheave, described rope lays out described leading sheave after walking around described rope stretching top block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101167707A CN101323420B (en) | 2008-07-17 | 2008-07-17 | Cable parallel mechanism automatic tracking steering transmission gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101167707A CN101323420B (en) | 2008-07-17 | 2008-07-17 | Cable parallel mechanism automatic tracking steering transmission gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101323420A CN101323420A (en) | 2008-12-17 |
| CN101323420B true CN101323420B (en) | 2010-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101167707A Expired - Fee Related CN101323420B (en) | 2008-07-17 | 2008-07-17 | Cable parallel mechanism automatic tracking steering transmission gear |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101086384B1 (en) * | 2009-04-06 | 2011-11-23 | 삼성중공업 주식회사 | Winch and autonomous mobile apparatus including the same |
| CN103708371B (en) * | 2013-12-20 | 2015-11-18 | 大连华锐重工集团股份有限公司 | The Huan Sheng mechanism that rope drives |
| CN105763149B (en) * | 2016-05-18 | 2018-04-13 | 上海工程技术大学 | The operation platform of distributed solar energy solar panel based on wire saws in parallel |
| AT17622U1 (en) * | 2020-12-23 | 2022-09-15 | Hans Kuenz Gmbh | Load transport system for transporting a load in a work area |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2842764Y (en) * | 2005-09-29 | 2006-11-29 | 西安电子科技大学 | Ordered winding device for flexible-structure antenna feed-source flexible cord |
| CN1921253A (en) * | 2005-08-25 | 2007-02-28 | 清华同方威视技术股份有限公司 | Inverting directional folding and unfolding cable reeling device for moving system commercial power supply |
| CN101007617A (en) * | 2006-01-27 | 2007-08-01 | 中国科学院沈阳自动化研究所 | Underwater cable retracting mechanism |
| EP1905723A1 (en) * | 2006-09-30 | 2008-04-02 | Zurecon AG | Lifting device for assembling conductor rails |
-
2008
- 2008-07-17 CN CN2008101167707A patent/CN101323420B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1921253A (en) * | 2005-08-25 | 2007-02-28 | 清华同方威视技术股份有限公司 | Inverting directional folding and unfolding cable reeling device for moving system commercial power supply |
| CN2842764Y (en) * | 2005-09-29 | 2006-11-29 | 西安电子科技大学 | Ordered winding device for flexible-structure antenna feed-source flexible cord |
| CN101007617A (en) * | 2006-01-27 | 2007-08-01 | 中国科学院沈阳自动化研究所 | Underwater cable retracting mechanism |
| EP1905723A1 (en) * | 2006-09-30 | 2008-04-02 | Zurecon AG | Lifting device for assembling conductor rails |
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| CN101323420A (en) | 2008-12-17 |
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Granted publication date: 20100602 Termination date: 20110717 |