CN209800647U - Modular wire driving mechanism winding system - Google Patents
Modular wire driving mechanism winding system Download PDFInfo
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- CN209800647U CN209800647U CN201920096609.1U CN201920096609U CN209800647U CN 209800647 U CN209800647 U CN 209800647U CN 201920096609 U CN201920096609 U CN 201920096609U CN 209800647 U CN209800647 U CN 209800647U
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Abstract
The utility model discloses a modular silk actuating mechanism wire winding system, include drive arrangement and be used for driven wire rope, still include: the winding fixing and pre-tightening module is used for fixing the tail end of the steel wire rope and pre-tightening the steel wire rope preliminarily, the winding tension detection module is used for detecting the tension of the steel wire rope, and the winding tension adjusting module is used for adjusting the tension of the steel wire rope; the winding fixing and pre-tightening module, the winding tension detection module and the winding tension adjusting module are sequentially connected; the steel wire rope is guided and led out from the winding fixing and pre-tightening module and sequentially wound through the winding tension detection module and the winding tension adjusting module; the winding fixing and pre-tightening module is connected with the driving device and is driven by the driving device to wind the steel wire rope. The utility model discloses the structure is small and exquisite, can realize the silk transmission in narrow and small space to compactness, pleasing to the eye degree, scalability and the reliability of equipment have been improved through modular design.
Description
Technical Field
The utility model relates to a silk drive winding device, in particular to modular silk actuating mechanism winding system.
Background
at present, in recent years, with the development of the robot and mechanical dexterous hand technology, the wire transmission technology is increasingly applied to the driving of the robot and dexterous hand. Compared with the traditional transmission system, the wire transmission system has the advantages of realizing long-distance power transmission, being easy to change the transmission direction and the like, and is very suitable for the structure driving of small-space multi-degree-of-freedom, such as dexterous hands.
However, there are some specific technical determinations in the wire transmission technology, for example, the direction of transmitting power can only be one-way, and the wire rope and the motor transmission shaft need to be reliably fixed. The steel wire rope can be loosened after being used for a long time, so that the transmission accuracy is influenced, and a special tensioning mechanism is needed. And to the measurement of silk tension, tension sensor in the past, its volume is great, and the pretension function is relatively poor, has the influence to the assembly degree of difficulty and the pleasing to the eye degree of the wire rope transmission survey tension in narrow and small space.
Under such a background, it is particularly important to develop a modular wire-driving winding method, including a winding device for fixing a steel wire rope, a winding device for pre-tightening the steel wire rope, and a winding device for measuring the tension of the steel wire rope with a small size, which can provide important improvements in terms of compactness, beauty, measurability and reliability for wire transmission in a narrow space.
Disclosure of Invention
The utility model provides a modularized wire driving mechanism winding system with small volume, convenient tension detection and high reliability for solving the technical problems existing in the prior art.
The utility model discloses a solve the technical scheme that technical problem that exists among the well-known technique took and be: a modular wire drive mechanism spooling system comprising a drive means and a wire rope for transmission, further comprising: the winding fixing and pre-tightening module is used for fixing the tail end of the steel wire rope and pre-tightening the steel wire rope preliminarily, the winding tension detection module is used for detecting the tension of the steel wire rope, and the winding tension adjusting module is used for adjusting the tension of the steel wire rope; the winding fixing and pre-tightening module, the winding tension detection module and the winding tension adjusting module are sequentially connected; the steel wire rope is guided and led out from the winding fixing and pre-tightening module and sequentially wound through the winding tension detection module and the winding tension adjusting module; the winding fixing and pre-tightening module is connected with the driving device and is driven by the driving device to wind the steel wire rope.
Furthermore, the winding fixing and pre-tightening module comprises a first binding post and a second binding post; the right end of the first binding post is fixedly connected with an output shaft of the driving device; the left end of the hollow shaft is in a stepped shaft shape and sequentially comprises a small-diameter section, a middle-diameter section and a large-diameter section from left to right; the outer peripheral surface of the small-diameter section is provided with threads; the outer peripheral surface of the large-diameter section is provided with a radial counter bore type threaded hole A and an annular groove A, and an open slot A passing through the steel wire rope is arranged between the counter bore part of the threaded hole A and the annular groove A; the second binding post is cylindrical and is sleeved on the middle-diameter section and in clearance fit with the middle-diameter section; the small-diameter section extends out of the left end of the second binding post and is connected with a compression nut; the peripheral surface of the second binding post is provided with a radial counter bore type threaded hole B and an annular groove B, and an open slot B through which the steel wire rope passes is arranged between the counter bore part of the threaded hole B and the annular groove B; the threaded hole A is connected with a first screw for fixing the tail end of the steel wire rope, and the threaded hole B is connected with a second screw for fixing the tail end of the steel wire rope.
Furthermore, the winding fixing and pre-tightening module further comprises a fixing base, and a first reel, a second reel, a third reel and a fourth reel which are fixed on the fixing base; the axes of the second reel, the third reel and the fourth reel are parallel to the axis of the first terminal, and the axis of the first reel is orthogonal to the axis of the first terminal; the steel wire rope led out from the annular groove A of the first binding post is wound to the winding tension detection module after passing through the fourth winding wheel; the steel wire rope led out from the annular groove B of the second binding post sequentially winds the first reel, the second reel and the third reel to the winding tension detection module.
Further, the compression nut is a flange nut.
Furthermore, the winding tension detection module comprises two symmetrically arranged tension detection units, each tension detection unit comprises an S-shaped pressure sensor, a detection reel A, a detection reel B and a detection reel C, and the detection reel A, the detection reel B and the detection reel C are sequentially wound with the steel wire rope; the axes of the detection reel A, the detection reel B and the detection reel C are parallel, and the axis connecting lines of the detection reel A, the detection reel B and the detection reel C form an isosceles triangle; the axis of the detection reel B is positioned on the central axis of the isosceles triangle; the mount of the detection reel B is pressed against the S-shaped pressure sensor.
Furthermore, the winding tension adjusting module comprises two symmetrically arranged tension adjusting units, each tension adjusting unit comprises a tension reel A, a tension reel B and a tension reel C which are sequentially wound with the steel wire rope, the axes of the tension reel A, the tension reel B and the tension reel C are parallel, and the axis connecting lines of the three components form an isosceles triangle; the axis of the tension reel B moves along the central axis of the isosceles triangle.
Furthermore, the winding tension adjusting module is provided with a tension adjusting base; the tension adjusting base is provided with a sliding groove, and the mounting seat of the tension reel B is positioned in the sliding groove and is in sliding connection with the sliding groove; the winding tension adjusting module further comprises an adjusting screw and a tensioning plate with a through hole, the tensioning plate is fixed on the tension adjusting base, a threaded hole C is formed in a mounting seat of the tension reel B, and the adjusting screw penetrates through the through hole of the tensioning plate and is in threaded connection with the threaded hole C.
Further, the adjusting screw is a cross screw.
Further, the driving means comprises a motor.
Further, the winding tension detection device further comprises a modularized connecting seat, and the winding tension detection module and the winding tension adjusting module are installed on the connecting seat.
The utility model has the advantages and positive effects that: the utility model discloses a modular wire driving mechanism winding system adopts the modularized design, and wherein the winding is fixed and the pretension module has realized fixing to the wire rope tip and preliminary pretension to the wire rope, and its winding tension detection module has realized the tension detection to the wire rope, and its winding tension adjustment module has realized the tension adjustment to the wire rope; the winding tension detection module is symmetrically provided with two tension detection units, and the winding tension adjustment module is symmetrically provided with two tension adjustment units, so that tension detection and adjustment of positive and negative rotating wire driving of the motor can be realized.
Drawings
fig. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic structural view of the winding fixing and pre-tightening module of the present invention;
FIG. 3 is a schematic structural diagram of a first terminal of a winding fixing and pre-tightening module structure;
FIG. 4 is a schematic structural view of a second terminal of the winding fixing and pre-tightening module structure;
fig. 5 is a schematic structural view of a winding tension detecting module of the present invention;
Fig. 6 is a simplified schematic diagram of a winding tension detection module according to the present invention;
Fig. 7 is a schematic structural diagram of the winding tension adjusting module of the present invention.
In the figure: 101. a motor; 102. a fixed base; 103. a first terminal post; 104. a second terminal; 201. a second connecting seat; 301. a third connecting seat; 401. a fourth connecting seat; 1001. a first reel; 1002. a second reel; 1003. a third reel; 1004. a fourth reel; 1005. a flange nut; 1006. a first screw; 1007. a second screw; 2001. a fifth reel; 2002. detecting a reel A; 2003. detecting the reel B; 2004. detecting the reel C; 2005. an S-type pressure sensor; 3001. pre-tightening the reel A; 3002. pre-tightening the reel B; 3003. pre-tensioning reel C4; 3004. a cross screw; 1031. a small diameter section; 1032. a medium diameter section; 1033. a threaded hole A; 1034. an open slot A; 1035. an annular groove A; 1036. a flange; 1041. a shaft hole; 1042. a threaded hole B; 1043. an open slot B; 1044. and an annular groove B.
Detailed Description
For further understanding of the contents, features and effects of the present invention, the following embodiments are listed and will be described in detail with reference to the accompanying drawings:
Referring to fig. 1-7, a modular wire drive mechanism spooling system includes a drive device and a wire rope for transmission, and further includes: the winding fixing and pre-tightening module is used for fixing the tail end of the steel wire rope and pre-tightening the steel wire rope preliminarily, the winding tension detection module is used for detecting the tension of the steel wire rope, and the winding tension adjusting module is used for adjusting the tension of the steel wire rope; the winding fixing and pre-tightening module, the winding tension detection module and the winding tension adjusting module are sequentially connected; the steel wire rope is guided and led out from the winding fixing and pre-tightening module and sequentially wound through the winding tension detection module and the winding tension adjusting module; the winding fixing and pre-tightening module is connected with the driving device and is driven by the driving device to wind the steel wire rope. The drive means may comprise a motor 101.
The winding fixing and pre-tightening module can comprise a first binding post 103 and a second binding post 104; the right end of the first binding post 103 can be fixedly connected with an output shaft of the driving device; the left end of the device can be in a stepped shaft shape and sequentially comprises a small-diameter section, a middle-diameter section and a large-diameter section from left to right; the outer peripheral surface of the small-diameter section can be provided with threads and is a threaded shaft section 1031; the middle-diameter section is an optical axis section 1032, the outer peripheral surface of the large-diameter section can be provided with a radial counter bore type threaded hole A1033 and an annular groove A1035, and an open groove A1034 for passing through the steel wire rope can be arranged between the counter bore part of the threaded hole A1033 and the annular groove A1035; the second terminal 104 may be cylindrical, and has a central shaft hole 1041, which is sleeved on the middle diameter section, i.e., the optical axis section 1032, and is in clearance fit with the optical axis section 1032; the small-diameter section extends out of the left end of the second binding post 104 and can be connected with a compression nut; a radial counter bore type threaded hole B1042 and an annular groove B1044 can be formed in the outer peripheral surface of the second terminal 104, and an open slot B1043 through which the steel wire rope passes can be formed between the counter bore portion of the threaded hole B1042 and the annular groove B1044; the threaded hole A1033 is connected with a first screw 1006 for fixing the tail end of the steel wire rope, the threaded hole B1042 is connected with a second screw 1007 for fixing the tail end of the steel wire rope, and the compression nut can be a compression nut with large end face friction force such as a flange nut 1005. One end of the steel wire rope is wound in the annular groove A1035 and then wound on the first screw 1006 through the opening groove A1034, and the first screw 1006 is screwed into the threaded hole A1033 to be pressed and fixed with the tail end of the steel wire rope. The other end of the steel wire rope is wound in the annular groove B1044 and then wound on the second screw 1007 through the open slot B1043, and the second screw 1007 is screwed into the threaded hole B1042 to press and fix the tail end of the steel wire rope.
further, the winding fixing and pretensioning module may further include a fixing base 102, and a first reel 1001, a second reel 1002, a third reel 1003, and a fourth reel 1004 fixed on the fixing base 102; the axes of the second reel 1002, the third reel 1003, and the fourth reel 1004 may be parallel to the axis of the first terminal 103, and the axis of the first reel 1001 may be orthogonal to the axis of the first terminal 103; the steel wire rope led out from the annular groove a1035 of the first terminal 103 can be wound around the fourth reel 1004 to the winding tension detection module; the wire rope drawn out from the annular groove B1044 of the second terminal 104 may be sequentially wound around the first reel 1001, the second reel 1002, and the third reel 1003 to the winding tension detecting module.
The winding tension detection module can comprise two symmetrically arranged tension detection units, each of which can comprise an S-shaped pressure sensor 2005, a detection reel A2002, a detection reel B2003 and a detection reel C2004 which are sequentially wound with the steel wire rope; the axes of the detection reel A2002, the detection reel B2003 and the detection reel C2004 can be parallel, and the connecting lines of the axes of the three can form an isosceles triangle; the axle center of the detection reel B2003 is positioned on the central axis of the isosceles triangle; the mounting seat of the detection reel B2003 may be press-fitted to the S-shaped pressure sensor 2005.
The winding tension adjusting module can comprise two symmetrically arranged tension adjusting units, each tension adjusting unit can comprise a tension reel A, a tension reel B and a tension reel C which are sequentially wound with the steel wire rope, the axes of the tension reel A, the tension reel B and the tension reel C can be parallel, and the axis connecting lines of the tension reel A, the tension reel B and the tension reel C can form an isosceles triangle; the axis of the tension reel B can move along the central axis of the isosceles triangle.
The winding tension adjusting module can be provided with a tension adjusting base; the tension adjusting base can be provided with a sliding groove, and the mounting seat of the tension reel B can be positioned in the sliding groove and is in sliding connection with the sliding groove; the winding tension adjusting module can further comprise an adjusting screw and a tensioning plate with a through hole, the tensioning plate can be fixed on the tension adjusting base, a mounting seat of the tension reel B can be provided with a threaded hole C, and the adjusting screw can penetrate through the through hole of the tensioning plate and be in threaded connection with the threaded hole C. The adjustment screw may be a cross screw 3004.
the system may further include a modular connection base on which the winding tension detecting module and the winding tension adjusting module are mounted. The connector holders may include a second connector holder 201, a third connector holder 301, and a fourth connector holder 401; the winding tension detection module is installed on the second connection seat 201; the winding tension adjusting module is arranged on the third connecting seat 301 and the fourth connecting seat 401 and is positioned between the third connecting seat and the fourth connecting seat; the fourth connector block 401 may also mount other wire winding modules.
The structure and the operation principle of the preferred embodiment of the present invention are explained as follows:
As shown in fig. 1, a fixing base 102 is fixed on a motor 101 through screws, and 4 reels are arranged on the fixing base 102 for winding of a steel wire rope for changing the transmission direction; a flange 1036 is arranged at the right end of the first binding post 103, the flange 1036 of the first binding post 103 is connected with a coupler through a screw, the coupler is fixedly connected with an output shaft of the motor 101, and a smooth shaft section and a threaded shaft section 1031 are arranged at the tail end of the first binding post 103; the second binding post 104 is in clearance fit with a smooth shaft section at the tail end of the first binding post 103 through the shaft hole 1041, namely, is in relative rotation connection, and then the pre-tightening function is realized; then, the flange nut 1005 is screwed with the threaded shaft section 1031 at the tail end of the first binding post 103, so that the second binding post 104 and the first binding post 103 are pressed and fixed; the first binding post 103 and the second binding post 104 are both provided with an annular groove and a threaded hole for winding the steel wire rope, so that the function of fixing the steel wire rope of the wire fixing device is realized; the second connecting seat 201 is fixed on the fixed base 102 through screws, and the wire rope tension measuring and winding device is fixedly arranged on the second connecting seat 201; the third connecting seat 301 is fixed on the second connecting seat 201 through a screw, the fourth connecting seat 401 is fixed on the third connecting seat 301 through a screw, and the second pre-tightening device of the steel wire rope is fixedly installed on the third connecting seat 301 and the fourth connecting seat 401.
As shown in fig. 2 to 4, a first reel 1001, a second reel 1002, a third reel 1003, and a fourth reel 1004 are fixed on the fixed base 102. The forward rotation steel wire rope is firstly wound on the first screw 1006, is fixed on the first binding post 103 through the tightening of the first screw 1006 to achieve the purpose of fixing the steel wire rope, is then wound on the annular groove A1035 of the first binding post 103, then bypasses the fourth reel 1004, and finally the transmission direction is changed to be vertically upward. The reversed wire rope is first wound on the second screw 1007, fixed on the second terminal 104 by tightening the second screw 1007 to achieve the purpose of fixing the wire rope, then wound on the annular groove B1044 of the second terminal 104, then wound around the first reel 1001, then wound around the second reel 1002, then wound around the third reel 1003, and finally the transmission direction becomes vertically upward. The second binding post 104 and the first binding post 103 are pressed and fixed by screwing the compression nut, that is, the motor 101 can drive the two steel wire ropes to move. When the steel wire rope needs to be pre-tightened, the compression nut is firstly loosened, the forward rotating steel wire rope is pre-tightened through clockwise rotation of the motor 101, the reverse rotating steel wire rope is pre-tightened through anticlockwise rotation of the second binding post 104, and then the compression nut is tightened, so that the function of pre-tightening the steel wire rope by the first pre-tightening device is achieved.
as shown in fig. 5, a detection reel a2002, a detection reel B2003 and a detection reel C2004 are formed as a tension detection unit for measuring the tension of the wire rope in the reverse rotation of the motor 101. The wire rope is routed from the top of the fifth reel 2001, through the bottom of the test reel a2002, through the top of the test reel B2003, through the bottom of the test reel C2004, and finally still in a vertically upward direction. The S-type pressure sensor 2005 is fixed to the second connector holder 201, and is located right below the detection reel B2003, and is used to measure the pressure generated by the detection reel B2003 due to the tension of the wire ropes at both ends. Symmetrically, the other side of the second connection seat 201 is provided with a tension detection unit which is arranged in the same way and is used for measuring the tension of the steel wire rope which is positively rotated by the motor 101. The S-type pressure sensor 2005 operates on the principle that the gap of the sensor changes due to the pressure directly above, and the pressure is measured by this change.
Referring to fig. 6, how the winding tension detecting module measures the tension of the wire rope will be described. The centers of the detection reel A2002, the detection reel B2003 and the detection reel C2004 are respectively a point A, a point B and a point C, the radiuses of the three reels are all r, the center distance between the detection reel A2002 and the detection reel B2003 is AB, the center distance between the detection reel A2002 and the detection reel C2004 is AC, and the S-shaped pressure sensor 2005 measured pressure is FN and wire rope tension is F. The tension F ═ F of the steel wire ropeN/2sin θ, where θ ═ θ1+∠BAC，θ1＝arcsin(2r/AB)，∠BAC＝arccos(AC/2AB)。
As shown in fig. 7, the pre-tensioning reel a3001 is fixed to the third hitch base 301, the pre-tensioning reel B3002 is connected to the third hitch base 301 via a sliding pair, and the pre-tensioning reel C3003 is fixed to the fourth hitch base 401 to pre-tension the reversed wire rope. The steel wire rope is routed from the rightmost side of the pre-tightening reel A3001, passes through the leftmost side of the pre-tightening reel B3002 and the rightmost side of the pre-tightening reel C3003, and finally the transmission direction is still vertical upwards. The cross screw 3004 is connected to the pre-tightening reel B3002 and the third connector holder 301 by a screw motion pair, so that the screw motion of the cross screw 3004 can be converted into a movement of the pre-tightening reel B3002 along the third connector holder 301, thereby achieving the purpose of pre-tightening the wire rope. Symmetrically, the other side of the third connecting seat 301 and the fourth connecting seat 401 is provided with a second pre-tightening winding device which is arranged in the same way.
The utility model discloses the components of a whole that can function independently have set up the fixed and pretension module of wire winding tension detection module and wire winding tension adjusting module, the wire winding is fixed and pretension module has realized reaching the fixed of wire rope tip and preliminary pretension to wire rope, and its wire winding tension detection module has realized detecting wire rope's tension, and its wire winding tension adjusting module has realized adjusting wire rope's tension, the utility model discloses and then realize motor 101 driven positive and negative silk drive, small in size can bring important improvement in the aspect of smallness, aesthetic measure, testability and the reliability for the silk transmission in narrow and small space.
The above-mentioned embodiments are only used for illustrating the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention accordingly, the scope of the present invention should not be limited by the embodiment, that is, all equivalent changes or modifications made by the spirit of the present invention should still fall within the scope of the present invention.
Claims (10)
1. A modular wire drive mechanism winding system, includes drive arrangement and is used for driven wire rope, its characterized in that still includes: the winding fixing and pre-tightening module is used for fixing the tail end of the steel wire rope and pre-tightening the steel wire rope preliminarily, the winding tension detection module is used for detecting the tension of the steel wire rope, and the winding tension adjusting module is used for adjusting the tension of the steel wire rope; the winding fixing and pre-tightening module, the winding tension detection module and the winding tension adjusting module are sequentially connected; the steel wire rope is guided and led out from the winding fixing and pre-tightening module and sequentially wound through the winding tension detection module and the winding tension adjusting module; the winding fixing and pre-tightening module is connected with the driving device and is driven by the driving device to wind the steel wire rope.
2. the modular wire drive mechanism spooling system of claim 1 wherein the spooling fixing and pretensioning module comprises a first terminal post and a second terminal post; the right end of the first binding post is fixedly connected with an output shaft of the driving device; the left end of the hollow shaft is in a stepped shaft shape and sequentially comprises a small-diameter section, a middle-diameter section and a large-diameter section from left to right; the outer peripheral surface of the small-diameter section is provided with threads; the outer peripheral surface of the large-diameter section is provided with a radial counter bore type threaded hole A and an annular groove A, and an open slot A passing through the steel wire rope is arranged between the counter bore part of the threaded hole A and the annular groove A; the second binding post is cylindrical and is sleeved on the middle-diameter section and in clearance fit with the middle-diameter section; the small-diameter section extends out of the left end of the second binding post and is connected with a compression nut; the peripheral surface of the second binding post is provided with a radial counter bore type threaded hole B and an annular groove B, and an open slot B through which the steel wire rope passes is arranged between the counter bore part of the threaded hole B and the annular groove B; the threaded hole A is connected with a first screw for fixing the tail end of the steel wire rope, and the threaded hole B is connected with a second screw for fixing the tail end of the steel wire rope.
3. The modular wire drive mechanism winding system of claim 2, wherein the winding wire fixing and pretensioning module further comprises a fixing base, and a first reel, a second reel, a third reel and a fourth reel fixed on the fixing base; the axes of the second reel, the third reel and the fourth reel are parallel to the axis of the first terminal, and the axis of the first reel is orthogonal to the axis of the first terminal; the steel wire rope led out from the annular groove A of the first binding post is wound to the winding tension detection module after passing through the fourth winding wheel; the steel wire rope led out from the annular groove B of the second binding post sequentially winds the first reel, the second reel and the third reel to the winding tension detection module.
4. The modular wire drive mechanism spooling system of claim 2 wherein the compression nut is a flange nut.
5. The modular wire drive mechanism winding system of claim 1, wherein the winding tension detection module comprises two symmetrically disposed tension detection units, each of which comprises an S-shaped pressure sensor, and a detection reel a, a detection reel B, and a detection reel C, which are sequentially wound around the wire rope; the axes of the detection reel A, the detection reel B and the detection reel C are parallel, and the axis connecting lines of the detection reel A, the detection reel B and the detection reel C form an isosceles triangle; the axis of the detection reel B is positioned on the central axis of the isosceles triangle; the mount of the detection reel B is pressed against the S-shaped pressure sensor.
6. The modular wire drive mechanism winding system according to claim 1, wherein the winding tension adjustment module comprises two symmetrically arranged tension adjustment units, each tension adjustment unit comprising a tension reel a, a tension reel B and a tension reel C wound in sequence with the wire rope, the axes of the tension reel a, the tension reel B and the tension reel C being parallel and the axes connecting lines of the three constituting an isosceles triangle; the axis of the tension reel B moves along the central axis of the isosceles triangle.
7. The modular wire drive mechanism spooling system of claim 6 wherein the spooling tension adjustment module is provided with a tension adjustment base; the tension adjusting base is provided with a sliding groove, and the mounting seat of the tension reel B is positioned in the sliding groove and is in sliding connection with the sliding groove; the winding tension adjusting module further comprises an adjusting screw and a tensioning plate with a through hole, the tensioning plate is fixed on the tension adjusting base, a threaded hole C is formed in a mounting seat of the tension reel B, and the adjusting screw penetrates through the through hole of the tensioning plate and is in threaded connection with the threaded hole C.
8. The modular wire drive mechanism spooling system of claim 7 wherein the adjustment screw is a cross screw.
9. The modular wire drive mechanism spooling system of claim 1 wherein the drive means comprises a motor.
10. The modular wire drive mechanism winding system of claim 1, further comprising a modular connection block, the winding tension detection module and the winding tension adjustment module being mounted on the connection block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920096609.1U CN209800647U (en) | 2019-01-22 | 2019-01-22 | Modular wire driving mechanism winding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920096609.1U CN209800647U (en) | 2019-01-22 | 2019-01-22 | Modular wire driving mechanism winding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209800647U true CN209800647U (en) | 2019-12-17 |
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ID=68820494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920096609.1U Expired - Fee Related CN209800647U (en) | 2019-01-22 | 2019-01-22 | Modular wire driving mechanism winding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209800647U (en) |
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2019
- 2019-01-22 CN CN201920096609.1U patent/CN209800647U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20191217 Termination date: 20220122 |