CN108406758A - A kind of constant force unit configuration of no roller and wire-arranging mechanism - Google Patents
A kind of constant force unit configuration of no roller and wire-arranging mechanism Download PDFInfo
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- CN108406758A CN108406758A CN201810526557.7A CN201810526557A CN108406758A CN 108406758 A CN108406758 A CN 108406758A CN 201810526557 A CN201810526557 A CN 201810526557A CN 108406758 A CN108406758 A CN 108406758A
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- Prior art keywords
- fixed pulley
- roller
- rope
- constant force
- wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The constant force unit configuration of a kind of no roller and wire-arranging mechanism, it is related to a kind of constant force unit configuration, and in particular to the constant force unit configuration of a kind of no roller and wire-arranging mechanism.The present invention in order to solve the problems, such as in existing various constant force units in order to realize during tensioning and release subsequent rope will not be pressed onto the rope of front and additional roller and wire-arranging mechanism caused by its complicated in mechanical structure, design difficulty is big, manufacturing cost is high low with reliability.Base board by the invention is rectangular plate body, the drum mechanism built is mounted on the upper surface of base board one end, first support and second support are mounted side by side on the upper surface of the base board other end, second fixed pulley and third fixed pulley are mounted side by side in first support, first fixed pulley is installed on the secondary support bracket, the initiating terminal of rope is connect with the drum mechanism built, and the end of rope bypasses third fixed pulley, the second fixed pulley, the first fixed pulley successively.The invention belongs to robot fields.
Description
Technical field
The present invention relates to a kind of constant force unit configurations, and in particular to the constant force unit structure of a kind of no roller and wire-arranging mechanism
Type belongs to robot field.
Background technology
Small-sized constant force unit belongs to parallel robot field, and it is to parallel connection rope driving to design extremely simple small-sized constant force unit module
The drive part of robot carries out modularized design.Constant force unit micro- low-gravity simulation field, grand movement tracking field,
The fields such as material carrying, industrial processes, virtual reality and athletic training have a wide range of applications.Usually rope drive module has rolling
Cylinder and wire-arranging mechanism, roller and wire-arranging mechanism can make the rope close-packed arrays on reel, avoid restricting and be wound mutually between restricting, so
And this design mechanical mechanism is complicated, is unfavorable for control unit output constant force.
Invention content
The present invention is that in order to realize, subsequent rope is not during tensioning and release in the existing various constant force units of solution
Can be pressed onto the rope of front and additional roller and wire-arranging mechanism caused by its complicated in mechanical structure, design difficulty is big, is manufactured into
This high problem low with reliability, and then the constant force unit configuration of a kind of no roller of proposition and wire-arranging mechanism.
The present invention adopts the technical scheme that in order to solve the above problem：The present invention includes drum mechanism built, the first fixed pulley,
Two fixed pulleys, third fixed pulley, first support, second support, rope and base board, base board are rectangular plate bodies, the volume
Cylinder mechanism is mounted on the upper surface of base board one end, and first support and second support are mounted side by side on the upper of the base board other end
On surface, the second fixed pulley and third fixed pulley are mounted side by side in first support, and the first fixed pulley is installed on the secondary support bracket,
The initiating terminal of rope is connect with the drum mechanism built, and the end of rope is determined around third fixed pulley, the second fixed pulley, first successively
Pulley.
Further, the drum mechanism built includes motor, reel and roller stand, roller stand mounting seat plate one end
On upper surface, reel is mounted on roller stand, one end of reel and the rotation axis connection of motor.
Further, the other end of reel is equipped with encoder.
Further, the invention also includes rope force snesor, rope force snesor is mounted in first support, and power sensing of restricting
The sensor probe of device is between the second fixed pulley and third fixed pulley.
Further, base board is evenly distributed in the upper surface equipped with multiple mounting holes.
The beneficial effects of the invention are as follows：The structure of the present invention is simple, uses fixed pulley group and reel to realize rope completely
Sequence winding.This can simplify constant force unit, save complicated roller and wire-arranging mechanism, make the overall dimensions of constant force unit more
It is small；Fixed pulley group is used simultaneously, and constant force unit is made to have the automatic ability for adapting to rope stretching angle.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the vertical view of the present invention.
Specific implementation mode
Specific implementation mode one：Illustrate present embodiment in conjunction with Fig. 1 and Fig. 2, a kind of no roller described in present embodiment and
The constant force unit configuration of wire-arranging mechanism includes drum mechanism built, the first fixed pulley 1, the second fixed pulley 2,3, first, third fixed pulley
Frame 4, second support 5, rope 6 and base board 7, base board 7 are rectangular plate bodies, and the drum mechanism built is mounted on base board 7 one
On the upper surface at end, first support 4 and second support 5 are mounted side by side on the upper surface of 7 other end of base board, the second fixed pulley
2 and third fixed pulley 3 be mounted side by side in first support 4, the first fixed pulley 1 be mounted on second support 5 on, the starting of rope 6
End is connect with the drum mechanism built, and the end of rope 6 bypasses third fixed pulley 3, the second fixed pulley 2, the first fixed pulley 1 successively.
First fixed pulley 1 is in addition to having the function of passive rotation, additionally it is possible to which relative seat rotates, and constant force unit is made to have automatically
Adapt to the ability of rope stretching angle, this ensure rope when pass in and out the mechanism rope relative to reel position substantially not by rope it is last
The influence of end motion object of which movement.Fixed pulley 2 and fixed pulley 3 only have the function of changing rope direction.In 2 He of the second fixed pulley
Rope force snesor is installed between third fixed pulley 3.Motor drives reel to rotate folding and unfolding rope, and the encoder of the reel other end is used
In measuring rotating cylinder position, rope coiling length is estimated.
Specific implementation mode two：Illustrate present embodiment in conjunction with Fig. 1 and Fig. 2, a kind of no roller described in present embodiment and
The drum mechanism built of the constant force unit configuration of wire-arranging mechanism includes motor 8, reel 9 and roller stand 10, and roller stand 10 installs bottom
On the upper surface of 7 one end of seat board, reel 9 is mounted on roller stand 10, one end of reel 9 and the rotation axis connection of motor 8.Its
It is formed and connection relation is same as the specific embodiment one.
Specific implementation mode three：Illustrate present embodiment in conjunction with Fig. 1 and Fig. 2, a kind of no roller described in present embodiment and
The other end of the reel 9 of the constant force unit configuration of wire-arranging mechanism is equipped with encoder.Encoder is used to measure the position of reel 9,
Estimate the coiling length of rope 6.Other compositions and connection relation are identical with embodiment two.
Specific implementation mode four：Illustrate present embodiment in conjunction with Fig. 1 and Fig. 2, a kind of no roller described in present embodiment and
The constant force unit configuration of wire-arranging mechanism further includes rope force snesor 11, and rope force snesor 11 is mounted in first support 4, and power of restricting
The sensor probe of sensor 11 is between the second fixed pulley 2 and third fixed pulley 3.Other compositions and connection relation with it is specific
Embodiment one is identical.
Specific implementation mode five：Illustrate present embodiment in conjunction with Fig. 1 and Fig. 2, a kind of no roller described in present embodiment and
The base board 7 of the constant force unit configuration of wire-arranging mechanism is evenly distributed in the upper surface equipped with multiple mounting hole 7-1.Other compositions and connection are closed
It is same as the specific embodiment one.
Operation principle
The starting of rope 6 is fixed on reel 9, and close to encoder side, the end of rope 6 by third fixed pulley 3,
It restricts after force snesor 11, the second fixed pulley 2, by 1 outlet of the first fixed pulley, has between 9 axis of rope 6 and reel at this time small
In 90 degree of initial angle, as shown in position A in Fig. 2, motor 8 is rotated with movable reel 9, and rope 6 is rolled up on reel 9, due to
There is certain initial angle so that the follow-up rope 6 being rolled on reel 9 is successively far from volume between 9 axis of rope 6 and reel
Code device, subsequent rope 6 will not be pressed onto the rope 6 of front, as shown in position B in Fig. 2, at this time between 9 axis of rope 6 and reel
Angle be 90 degree, motor 8 continues to drive the rotation of reel 9, and subsequent rope 6 can squeeze the rope 6 of front, make rope 6 successively
It is wrapped on reel 9, rope 6 can squeeze the rope 6 of front at this time, so far in rope position such as Fig. 2 shown in the C of position.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as be without departing from technical solution of the present invention content, according to the technical essence of the invention,
Within the spirit and principles in the present invention, to any simple modification, equivalent replacement and improvement etc. made by above example, still
Belong within the protection domain of technical solution of the present invention.
Claims (5)
1. the constant force unit configuration of a kind of no roller and wire-arranging mechanism, it is characterised in that：A kind of no roller and wire-arranging mechanism
Constant force unit configuration include drum mechanism built, the first fixed pulley (1), the second fixed pulley (2), third fixed pulley (3), first support
(4), second support (5), rope (6) and base board (7), base board (7) is rectangular plate body, and the drum mechanism built is mounted on bottom
On the upper surface of seat board (7) one end, first support (4) and second support (5) are mounted side by side on the upper table of base board (7) other end
On face, the second fixed pulley (2) and third fixed pulley (3) are mounted side by side in first support (4), and the first fixed pulley (1) is mounted on
In second support (5), the initiating terminal of rope (6) is connect with the drum mechanism built, and the end of rope (6) is slided around third surely successively
Take turns (3), the second fixed pulley (2), the first fixed pulley (1).
2. the constant force unit configuration of a kind of no roller and wire-arranging mechanism according to claim 1, it is characterised in that：The reel
Mechanism includes motor (8), reel (9) and roller stand (10), the upper surface of roller stand (10) mounting seat plate (7) one end
On, reel (9) is mounted on roller stand (10), the rotation axis connection of one end and motor (8) of reel (9).
3. the constant force unit configuration of a kind of no roller and wire-arranging mechanism according to claim 1, it is characterised in that：Reel (9)
The other end encoder is installed.
4. the constant force unit configuration of a kind of no roller and wire-arranging mechanism according to claim 1, it is characterised in that：Described one kind
The constant force unit configuration of no roller and wire-arranging mechanism further includes rope force snesor (11), and rope force snesor (11) is mounted on first
On frame (4), and the sensor probe for force snesor (11) of restricting is between the second fixed pulley (2) and third fixed pulley (3).
5. the constant force unit configuration of a kind of no roller and wire-arranging mechanism according to claim 1, it is characterised in that：Base board
(7) be evenly distributed in the upper surface equipped with multiple mounting holes (7-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810526557.7A CN108406758A (en) | 2018-05-21 | 2018-05-21 | A kind of constant force unit configuration of no roller and wire-arranging mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810526557.7A CN108406758A (en) | 2018-05-21 | 2018-05-21 | A kind of constant force unit configuration of no roller and wire-arranging mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406758A true CN108406758A (en) | 2018-08-17 |
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ID=63140731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810526557.7A Pending CN108406758A (en) | 2018-05-21 | 2018-05-21 | A kind of constant force unit configuration of no roller and wire-arranging mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108406758A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102068363A (en) * | 2011-01-25 | 2011-05-25 | 南京航空航天大学 | Rope-driven waist rehabilitation robot |
| CN204568997U (en) * | 2015-04-23 | 2015-08-19 | 吴会才 | A kind of welding wire automatic wire arranging device |
| CN105411811A (en) * | 2015-10-28 | 2016-03-23 | 西安电子科技大学 | Modularized multifunctional rehabilitation training device |
| CN106120529A (en) * | 2016-08-22 | 2016-11-16 | 清华大学 | A kind of large-span multifunctional robotization engineering construction equipment |
| CN107234611A (en) * | 2016-03-29 | 2017-10-10 | 北京博酷科技有限公司 | Touch-screen response performance test handler |
| CN206705391U (en) * | 2017-05-10 | 2017-12-05 | 滁州学院 | A kind of electric wire looping device be easy to the recovery of electric wire and precisely measured |
-
2018
- 2018-05-21 CN CN201810526557.7A patent/CN108406758A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102068363A (en) * | 2011-01-25 | 2011-05-25 | 南京航空航天大学 | Rope-driven waist rehabilitation robot |
| CN204568997U (en) * | 2015-04-23 | 2015-08-19 | 吴会才 | A kind of welding wire automatic wire arranging device |
| CN105411811A (en) * | 2015-10-28 | 2016-03-23 | 西安电子科技大学 | Modularized multifunctional rehabilitation training device |
| CN107234611A (en) * | 2016-03-29 | 2017-10-10 | 北京博酷科技有限公司 | Touch-screen response performance test handler |
| CN106120529A (en) * | 2016-08-22 | 2016-11-16 | 清华大学 | A kind of large-span multifunctional robotization engineering construction equipment |
| CN206705391U (en) * | 2017-05-10 | 2017-12-05 | 滁州学院 | A kind of electric wire looping device be easy to the recovery of electric wire and precisely measured |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180817 |
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| RJ01 | Rejection of invention patent application after publication |