CN105460824A - Mechanical-electrical integrated winding winch device - Google Patents
Mechanical-electrical integrated winding winch device Download PDFInfo
- Publication number
- CN105460824A CN105460824A CN201510999250.5A CN201510999250A CN105460824A CN 105460824 A CN105460824 A CN 105460824A CN 201510999250 A CN201510999250 A CN 201510999250A CN 105460824 A CN105460824 A CN 105460824A
- Authority
- CN
- China
- Prior art keywords
- internally toothed
- toothed annulus
- wire spool
- center
- sun wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
- B66D1/74—Capstans
- B66D1/7421—Capstans having a vertical rotation axis
- B66D1/7426—Capstans having a vertical rotation axis driven by motor only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/14—Power transmissions between power sources and drums or barrels
- B66D1/22—Planetary or differential gearings, i.e. with planet gears having movable axes of rotation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
- B66D2700/01—Winches, capstans or pivots
- B66D2700/0125—Motor operated winches
- B66D2700/0141—Electrically actuated
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a mechanical-electrical integrated winding winch device which comprises a machine frame, braking devices, driving motors, a winding disc, an inner gear ring, a planetary gear set and a central sun wheel. A 2K-H type epicyclic gear train is formed by the inner gear ring, the planetary gear set and the central sun wheel. The braking devices are located on the outer surface of the inner gear ring, fixed to the machine frame, and used for locking the inner gear ring through electromagnet driving. A transmission shaft is installed in the centers of planetary gears of the planetary gear set through rolling bearings, and the other end of the transmission shaft is connected with the winding disc through a rolling bearing. The revolution motion of the planetary gears is converted into the spinning motion of the winding disc. The center of the winding disc is connected to the machine frame through the rolling bearing and is coaxial with the center of the sun wheel and the center of the inner gear ring. The mechanical-electrical integrated winding winch device has the advantages that controlling is easy, and energy consumption is reduced.
Description
Technical field
The present invention relates to coiling capstan winch, particularly relate to a kind of Winder for four capstan winch Cooperation controlling.
Technical background
Compliant Assembly has great prospect in robot on a large scale space motion.The principle of work of Compliant Assembly is the length being fixed on the flexible cable on controlled device by collaborative change many, adjusts controlled device position in space and attitude.The length of flexible cable, is controlled by capstan winch.
Compliant Assembly commonly uses capstan winch and servomotor to control the length of flexible cable, and then reaches the position of control in space and the object of attitude.During running, no matter be do what kind of adjustment to robot, all servomotors all want collaborative work.These class methods have following shortcoming: 1, when flexible cable quantity is more, to the control difficulty of many group servomotors collaborative work; 2, enable many group servomotor energy consumptions high simultaneously.
Summary of the invention
In order to overcome the drawback of traditional power capstan, the invention provides a kind of electromechanical integration capstan winch of single motor Collaborative Control.
Electromechanical integration coiling capstan arrangement comprises frame, brake, drive motor, wire spool, internally toothed annulus, compound planet gear and center sun wheel.Internally toothed annulus is placed in the bottom of frame by bearing; Brake module acts on internally toothed annulus outer surface, and the moving direction of its work is that internally toothed annulus is radial; Compound planet gear and center sun wheel are positioned at same working face, with internally toothed annulus form together a 2K ?H type epicyclic train; Each gear center axle of compound planet gear and wire spool consolidation, wire spool is connected with frame by bearing again simultaneously.
Further, brake gear outside internally toothed annulus is arranged on for changing the degree of freedom of internally toothed annulus.Brake is when working, and internally toothed annulus can positive and negative Double-directional rotary, and during brake work, internally toothed annulus is locked, and degree of freedom is zero.
Further, sun wheel is driven by motor, and gears meshing each with compound planet gear.
Further, the axle in each planetary center is connected with wire spool with pair of bearings, is transferred in wire spool by planetary revolution motion, realize wire spool around axis rotation.
Further, four groups of electromechanical integration coiling capstan winches are positioned in the orientation of corner, space, and flexible cable end after wire spool is fixed in controlled member.
The invention has the beneficial effects as follows:
1, the structure design of electromechanical makes in use only need control a motor at every turn, simplifies control program.
2, without the need to opening all motors and the controlled cell position of adjustable, energy consumption reduces.
3, structure is simple, and cost of manufacture is low, is easy to safeguard.
Accompanying drawing explanation
Fig. 1 is overall construction drawing of the present invention;
Fig. 2 is integral layout mode figure of the present invention.
Detailed description of the invention
The coiling capstan arrangement of electromechanical, comprises wire spool 1, brake gear 2, internally toothed annulus 3, planetary gear set 4 and sun wheel 5; Comprise in planetary gear set 42 ?4 satellite gears, a transmission shaft is installed by antifriction-bearing box in each satellite gear center, and transmission shaft two ends antifriction-bearing box is connected with wire spool 1; Brake gear 2 is positioned at internally toothed annulus outside face, is cemented in frame, by solenoid actuated; Internally toothed annulus 3, planetary gear set 4 and sun wheel 5 by 2K ?H epicyclic train combine; With one heart, the antifriction-bearing box being positioned at respective center with two is respectively arranged in frame for internally toothed annulus 3 and wire spool 1.
During installation, four groups of electromechanical coiling capstan winches are separately fixed on isoplanar four angles of A, B, C, D, and the initial position of controlled object is P point, and target location is Q point.
In use, the first initial position P according to controlled object and target location Q determines to need to enable motor corresponding to capstan winch in the present invention; In four capstan systems, successively enable 2 motors; Motor A first enables, now corresponding capstan winch A brake work, and the moving direction of its work is that internally toothed annulus is radial, and internally toothed annulus A is stuck, and planetary gear set A drives wire spool A rotation coiling, and corresponding flexible cable A shrinks; Meanwhile the motor of other three groups of capstan winches is not all enabled, and brake does not all work, free unwrapping wire, automatically adapts to the change of flexible cable A length; When the length adjustment of flexible cable A is to desirable value, motor A quits work, and brake A unclamps; Motor B starts to enable, now corresponding capstan winch B brake work, and internally toothed annulus B is stuck, and planetary gear set B drives wire spool B rotation coiling, and corresponding flexible cable B shrinks; Meanwhile the motor of other three groups of capstan winches is not all enabled, and brake does not all work, free unwrapping wire, automatically adapts to the change of flexible cable B length; When the length adjustment of flexible cable B is to desirable value, motor B quits work, and brake B unclamps; Now controlled object has been in and has required position, and whole moving process terminates.
Content described in this specification sheets embodiment is only enumerating the way of realization of inventive concept; protection scope of the present invention should not be regarded as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention also and conceive the equivalent technologies means that can expect according to the present invention in those skilled in the art.
Claims (4)
1. the coiling capstan arrangement of electromechanical, is characterized in that: frame, brake gear, drive motor, wire spool, internally toothed annulus, compound planet gear and sun wheel; Compound planet gear and sun wheel are positioned at same working face, both with internally toothed annulus form together a 2K ?H type epicyclic train; Each gear center a transmission shaft and the wire spool consolidation of compound planet gear, wire spool is connected with frame by bearing again simultaneously; Internally toothed annulus is placed in the bottom of frame by bearing; Brake gear acts on internally toothed annulus outer surface.
2. the coiling capstan arrangement of electromechanical as claimed in claim 1, it is characterized in that: in compound planet gear, a transmission shaft is installed by antifriction-bearing box in each satellite gear center, transmission shaft two ends antifriction-bearing box is connected with wire spool, planetary revolution motion is changed into the spinning motion of wire spool.
3. the coiling capstan arrangement of electromechanical as claimed in claim 2, is characterized in that: brake gear is positioned at internally toothed annulus outside face, is cemented in frame, utilize the lockable internally toothed annulus of solenoid actuated.
4. the coiling capstan arrangement of electromechanical as claimed in claim 3, is characterized in that: the center of wire spool is connected in frame by antifriction-bearing box, and with the center of sun wheel and the central coaxial of internally toothed annulus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510999250.5A CN105460824B (en) | 2015-12-26 | 2015-12-26 | A kind of coiling capstan arrangement of electromechanical |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510999250.5A CN105460824B (en) | 2015-12-26 | 2015-12-26 | A kind of coiling capstan arrangement of electromechanical |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105460824A true CN105460824A (en) | 2016-04-06 |
| CN105460824B CN105460824B (en) | 2017-12-15 |
Family
ID=55599058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510999250.5A Expired - Fee Related CN105460824B (en) | 2015-12-26 | 2015-12-26 | A kind of coiling capstan arrangement of electromechanical |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105460824B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7270312B1 (en) * | 2006-09-14 | 2007-09-18 | Growth Innovation, Llc | Multifunctional winch drum drive system |
| CN101357744A (en) * | 2008-07-16 | 2009-02-04 | 李培基 | Semi gravity moment efficient energy-saving safe self-locking crane |
| CN101993011A (en) * | 2009-08-17 | 2011-03-30 | 佟小军 | Structure of winding engine |
| CN203428835U (en) * | 2013-07-10 | 2014-02-12 | 洛阳理工学院 | Winch device for vehicle-mounted mechanical transmission of engineering vehicle |
| CN104108658A (en) * | 2013-04-22 | 2014-10-22 | 徐州康腾传动科技发展有限公司 | Fixing large internal gear transmission mechanism of crane |
| CN205241136U (en) * | 2015-12-26 | 2016-05-18 | 浙江大学 | Mechanical and electrical integration's wire winding winch arrangement |
-
2015
- 2015-12-26 CN CN201510999250.5A patent/CN105460824B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7270312B1 (en) * | 2006-09-14 | 2007-09-18 | Growth Innovation, Llc | Multifunctional winch drum drive system |
| CN101357744A (en) * | 2008-07-16 | 2009-02-04 | 李培基 | Semi gravity moment efficient energy-saving safe self-locking crane |
| CN101993011A (en) * | 2009-08-17 | 2011-03-30 | 佟小军 | Structure of winding engine |
| CN104108658A (en) * | 2013-04-22 | 2014-10-22 | 徐州康腾传动科技发展有限公司 | Fixing large internal gear transmission mechanism of crane |
| CN203428835U (en) * | 2013-07-10 | 2014-02-12 | 洛阳理工学院 | Winch device for vehicle-mounted mechanical transmission of engineering vehicle |
| CN205241136U (en) * | 2015-12-26 | 2016-05-18 | 浙江大学 | Mechanical and electrical integration's wire winding winch arrangement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105460824B (en) | 2017-12-15 |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171215 Termination date: 20211226 |