CN105958421B - Folding and unfolding cable device - Google Patents
Folding and unfolding cable device Download PDFInfo
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- CN105958421B CN105958421B CN201610410010.1A CN201610410010A CN105958421B CN 105958421 B CN105958421 B CN 105958421B CN 201610410010 A CN201610410010 A CN 201610410010A CN 105958421 B CN105958421 B CN 105958421B
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- cable
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
- H02G11/02—Arrangements of electric cables or lines between relatively-movable parts using take-up reel or drum
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Abstract
The present invention discloses a kind of folding and unfolding cable device, including cable accommodating device and cable protector.Cable protector includes the fixed arm and lever arm being mutually pivotally connected, and both articulated sections are provided with elastic component and microswitch, and lever arm is pivoted to fold to microswitch during trigger position and is triggered.The first tensioning wheel and the second tensioning wheel are set on fixed arm, the 3rd tensioning wheel is set on lever arm.Coiling electric motor is fixed on tumbler and drives tumbler using fixed gear and planetary meshing relation and rotated around line piece in cable accommodating device, and driving wheel is located in line piece with connecting rod and drives swing arm to swing.Microswitch controls main motor and/or coiling electric motor.Cable after tensioning wheel on wire spool, when pulling force is excessive lever arm fold make microswitch close motor with stop folding and unfolding action, protect cable.Cable accommodating device is without electrical components, and resistance to irradiation ability is strong, and it is synchronous with the action that swing connects up to rotate coiling, and wiring is uniform.
Description
Technical field
The present invention relates to a kind of folding and unfolding cable device, more particularly to a kind of folding and unfolding cable device applied in nuclear power robot.
Background technology
It is required for replacing manual work using robot at the scene in many fields, being the advantages of robot can be in height
The hazardous environments such as radiation, high temperature or narrow and small region etc. are not suitable for the place that the mankind go to and carry out operation, however, during robot manipulating task
Waiting needs dynamic input, and data need the transmitted in both directions between robot and control terminal during operation, it is therefore desirable to machine
Connection cables are connected on people.
By taking nuclear power field as an example, one of nuclear power station robot important equipment emergent as raising nuclear safety and power station,
It is used widely in terms of nuclear power station regular maintenance and accident rescue.With reference to complex environment inside nuclear power station, to ensure its communication
Its communication robust that stabilizes and increases and its antijamming capability of enhancing, robot communication modes, which mainly use, cable communication modes.By
In being connected to cable in robot, cable can follow robot to advance during robot advances, it is therefore desirable in real time
Carry out the operation of folding and unfolding cable.Folding and unfolding cable technology is broadly divided into distal end folding and unfolding cable technology and on the spot folding and unfolding cable technology at present.It is wherein remote
End folding and unfolding cable technology refers to the operation that folding and unfolding cable is carried out in control terminal, and this technology is only applicable to that operating path is simple, cable resists
The handling situations such as drawing ability is high, length of cable is short.And folding and unfolding cable technology refers to carry out folding and unfolding cable operation in robot on the spot, this
Kind technology is applicable to the folding and unfolding of the fragile cable such as optical fiber, meets operation apart from job requirements such as remote and path complexity.
Using during folding and unfolding cable technology on the spot, it is necessary in robot set folding and unfolding cable device, folding and unfolding cable device is as machine
People's cable laying and the execution equipment of storage, its transaction capabilities directly affect robot can normal operation and working range, adopt
Robot job stability and accessibility are favorably improved with advanced folding and unfolding cable technology.Current folding and unfolding cable device is in structure
It is primarily present two shortcomings：First, it is necessary to the auxiliary of the electrical components such as encoder, sensor could carry out take-up, and in nuclear power
The radiation in robot manipulating task place is larger in field, and the infringement to general electrical components is also larger, therefore this cable storage dress
The maintenance cost put is high, working life is short, once and electrical components function is lost under the influence of irradiation, then take-up process and effect
Fruit can also be affected, and cause cable skewness on wire spool.Second, the lighter in weight of optical fiber cable, its own toughness
With it is slightly insufficient in intensity, tensile capacity is poor, and protection deficiency of the existing folding and unfolding cable device in folding and unfolding cable to cable, pulls
Power is larger, easily makes cable damage, causes robot can not normal work again.
Therefore, it is necessary to provide one kind can make cable wiring uniformly, Radiation hardness is compared with strong and good to cable protection
Good cable accommodating device.
The content of the invention
It is an object of the invention to provide one kind can make cable wiring uniformly, Radiation hardness it is relatively strong and to cable protection
Good cable accommodating device.
To achieve these goals, the invention provides a kind of folding and unfolding cable device, in robot, have in robot
There are the main motor that driving robot advances, including cable accommodating device and the cable protection dress above cable accommodating device
Put.Cable protector includes fixed arm, lever arm, elastic component, microswitch, the first tensioning wheel, the second tensioning wheel and the 3rd
Tensioning wheel, fixed arm are fixed in robot, and one end of lever arm and one end pivot joint of fixed arm and lever arm can be relatively fixed
Arm is pivoted and folded to a trigger position, and elastic component is arranged between fixed arm and lever arm and providing makes lever arm be relatively fixed arm
The elastic force pivotally opened, microswitch are arranged at the junction of fixed arm and lever arm, micro- when lever arm reaches trigger position
Dynamic switch is triggered, the first tensioning wheel and the second tensioning wheel be rotatably arranged at respectively on fixed arm and wherein the second tensioning wheel more
Close to the junction of fixed arm and lever arm, the 3rd tensioning wheel is rotatably arranged on lever arm.Cable accommodating device include around
Drum, coiling electric motor, tumbler, around line piece, fixed gear, planetary gear, transmission mechanism, driving wheel, swing arm and connecting rod, wire spool
It is fixed in robot, the fixed gear is fixed on the end face of the wire spool, and the tumbler is rotatably arranged at described
On the end face of wire spool and the pivot center of the tumbler overlaps with the central axis of the fixed gear, and the coiling electric motor is consolidated
Due to the tumbler one end and there are two output shafts, an output shaft of the planetary gear and the coiling electric motor connects
Connect and engaged with the fixed gear, it is described to be fixed on the other end of the tumbler and under the drive of the tumbler around line piece
Rotated around the face of cylinder of the wire spool, the driving wheel is rotatably mounted at described in line piece, one end of the swing arm
Prejudicially it is articulated on the driving wheel, one end of the connecting rod is articulated in described around line piece, the other end of the connecting rod and institute
Swing arm pivot joint is stated, the driving wheel drives the other end of the swing arm to swing up and down when rotating, and the transmission mechanism is arranged on institute
State tumbler and it is described be connected in line piece and with another output shaft of the coiling electric motor and the driving wheel, coiling electricity
Machine drives the driving wheel to rotate by the transmission mechanism.Microswitch controls main motor and/or coiling electric motor.
Compared with prior art, folding and unfolding cable device of the present invention includes cable protector and cable accommodating device, device
Cable is introduced from the opening of fixed arm and lever arm after installation, cable is bypassed from bottom to top after the first tensioning wheel around the
On three tensioning wheels, then from the 3rd tensioning wheel downwards on the second tensioning wheel, last cable downwards after swing arm around
On wire spool.During folding and unfolding cable, cable is slided on three tensioning wheels and walked, when the tractive force of pulling cable is excessive,
Cable pulls lever arm to collapse by with the frictional force of three tensioning wheels, and the gathering amplitude of the bigger lever arm of tractive force is bigger, and one
Denier lever arm reaches trigger position and touches microswitch, then main motor or coiling electric motor stop, so as to suspend the dynamic of folding and unfolding cable
Make, prevent cable to be broken because tractive force is excessive, realize the purpose of protection cable.In addition, when coiling electric motor works, coiling
The face of cylinder that part and swing arm thereon can surround wire spool rotates, while coiling electric motor also drives driving wheel to rotate, around line piece
Cam link mechanism is formed with driving wheel thereon, connecting rod and swing arm, drives the other end of swing arm to do when driving wheel rotates
The action of lower swing.Gear drive and the combination of link transmission make swing arm rotate coiling and swing two actions of wiring can be with
It is synchronous, realize uniformly wiring.And it is to be realized by purely mechanic mechanism, without setting the electrical components such as encoder, sensor, because
This Radiation hardness is low compared with strong, long working life, maintenance cost.
It is preferred that elastic component is the torsion spring in the rotating shaft for being located at fixed arm and lever arm.Setting torsion spring to provide makes
The elastic force that lever arm pivotally opens, and make structure between fixed arm and lever arm more stable.
It is preferred that cable protector also includes the 4th tensioning wheel, the 4th tensioning wheel is rotatably arranged on fixed arm simultaneously
Between the first tensioning wheel and the second tensioning wheel, projected position of the 3rd tensioning wheel on fixed arm be located at the first tensioning wheel with
Between 4th tensioning wheel.4th tensioning wheel is set on fixed arm and the 3rd tensioning wheel is located at the first tensioning wheel and the 4th tensioning
Between wheel, it is therefore an objective to make cable walking on cable protector more smooth.
Specifically, it is provided with the wheel face of the first tensioning wheel, the second tensioning wheel, the 3rd tensioning wheel and the 4th tensioning wheel
Accommodate the groove of cable.By setting groove that cable can be securely positioned on tensioning wheel.
It is preferred that pivot center of the pivot center of driving wheel perpendicular to tumbler, the pivotal axis of swing arm on the drive wheel
Line and connecting rod are parallel with the pivot center of driving wheel with the pivot axis in swing arm around line piece.
It is preferred that transmission mechanism includes the first runner, the second runner, transmission component and actuator, the first runner and second
Runner is rotatably arranged at tumbler respectively and in line piece, the output shaft of coiling electric motor is connected with the first runner and drives first
Runner is rotated, and transmission component is arranged between the first runner and the second runner, and the first runner drives when rotating by transmission component
Second runner rotates, and actuator is connected between the second runner and driving wheel and the rotation of the second runner is passed into driving wheel.
Specifically, the pivot center of the pivot center of the first runner and the second runner is mutually perpendicular to, and transmission component includes phase
The first bevel gear and the second bevel gear mutually engaged, wherein the first bevel gear and the first runner are fixed and the center of the first bevel gear
Axis overlaps with the central axis of the first runner, the second bevel gear and the second runner fix and the central axis of the second bevel gear with
The central axis of second runner overlaps.
Specifically, actuator is the first timing belt, and the second runner and driving wheel are synchronous pulley, and the first timing belt surrounds
Outside the second runner and driving wheel.
Specifically, transmission mechanism also includes the 3rd runner, the second timing belt and reduction box, and the first runner is arranged at tumbler
One end, coiling electric motor and the 3rd runner be arranged on the other end of tumbler, reduction box be connected to the output shaft of coiling electric motor with
Between 3rd runner, the first runner and the 3rd runner are synchronous pulley, and the second timing belt is centered around the first runner and the 3rd turn
Outside wheel.
It is preferred that folding and unfolding cable device also include being fixed on robot and positioned at cable protector and cable accommodating device it
Between conduit, cable passes through from conduit.Conduit plays guiding, transitional function, make cable from cable protector to
The process of cable accommodating device is more smooth.
Brief description of the drawings
Fig. 1 is the stereogram of folding and unfolding cable device of the present invention.
Fig. 2 is the stereogram of cable protector in folding and unfolding cable device.
Fig. 3 is the stereogram of another angle of cable protector.
Fig. 4 is the side view of cable protector.
Fig. 5 is the stereogram of cable accommodating device in folding and unfolding cable device.
Fig. 6 is the operation principle schematic diagram of swing arm in folding and unfolding cable device.
Embodiment
Description is made to presently preferred embodiments of the present invention with reference to the Figure of description provided.
As shown in figure 1, the invention provides a kind of folding and unfolding cable device, it is arranged in robot, particularly in nuclear power field
Robot.Folding and unfolding cable device can realize folding and unfolding cable on the spot during robot advances, and meet operation distance Yuan He roads
The job requirements such as footpath complexity.Folding and unfolding cable device includes cable protector 1 and cable accommodating device 2, and cable accommodating device 2 is direct
In robot, cable protector 1 by the structures such as the rod member holded up or support body be arranged on and robot on and position
In the top of cable accommodating device 2.Cable 4 after the guiding of cable protector 1 downwardly into cable accommodating device 2 simultaneously
It is incorporated on cable accommodating device 2.Robot has the main motor for controlling it to advance, and cable accommodating device 2 includes work
For the coiling electric motor of the power source of folding and unfolding cable action.During folding and unfolding cable 4, cable 4 can be pulled power, cable protection
The effect of device 1 is exactly to stop main motor and coiling electric motor when the tractive force is excessive, so as to protect cable 4 injury-free.With
The lower concrete structure that will introduce cable protector 1 and cable accommodating device 2 respectively.
Reference picture 2 to Fig. 4, cable protector 1 include fixed arm 11, lever arm 12, elastic component 13, microswitch 14,
First tensioning wheel 15, the second tensioning wheel 16, the 3rd tensioning wheel 17 and the 4th tensioning wheel 18.
Fixed arm 11 is fixed in the structures such as the rod member erected in robot or support body, one end of lever arm 12 and fixed arm
11 one end pivot joint, therefore lever arm 12 can be relatively fixed arm 11 and pivotally open or pivot and fold.Lever arm 12 is relatively solid
Fixed arm 11 pivot fold to a certain degree when position be defined as trigger position.Elastic component 13 is arranged at fixed arm 11 and lever arm
Between 12 and providing makes lever arm 12 be relatively fixed the elastic force that arm 11 pivotally opens, the particularly torsion spring, and winding of elastic component 13
In the rotating shaft of fixed arm 11 and lever arm 12.Microswitch 14 is arranged at the junction of fixed arm 11 and lever arm 12, works as work
Microswitch 14 is triggered when swing arm 12 reaches above-mentioned trigger position.Microswitch 14 passes through appropriate line and circuit layout
It is electrically connected with above-mentioned main motor, coiling electric motor, main motor and coiling can be controlled when microswitch 14 is triggered
The start and stop of motor.First tensioning wheel 15, the second tensioning wheel 16 and the 4th tensioning wheel 18 are rotatably arranged at solid respectively
Arranged in fixed arm 11 and along the length direction of fixed arm 11, wherein the first tensioning wheel 15 is closer to fixed arm 11 and lever arm 12
Opening, the second tensioning wheel 16 is closer to the junction of fixed arm 11 and lever arm 12, and the 4th tensioning wheel 18 is located at first
Between the tensioning wheel 16 of tensioning wheel 15 and second.The perforation positioned at the rear of the second tensioning wheel 16 is further opened with fixed arm 11.The
Three tensioning wheels 17 are rotatably arranged on lever arm 12, and projected position of the 3rd tensioning wheel 17 on fixed arm 11 is located at first
Between the tensioning wheel 18 of tensioning wheel 15 and the 4th.First tensioning wheel 15, the second tensioning wheel 16, the 3rd tensioning wheel 17 and the 4th tensioning
The groove for accommodating cable 4 is provided with the wheel face of wheel 18.
The opening of cable 4 from fixed arm 11 and lever arm 12 enters the lower end of the first tensioning wheel 15, around the first tensioning
Led to upwards at the 3rd tensioning wheel 17 and down around the 3rd tensioning wheel 17 after wheel 15, downward cable 4 is again from the 4th tensioning wheel
18 extend close to one end of opening around the junction of the backward fixed arm 11 in the lower section of the 4th tensioning wheel 18 and lever arm 12, cable 4
Finally from the top of the second tensioning wheel 16 around later, passing downwardly through perforation through fixed arm 11.Through the cable 4 after fixed arm 11
It is introduced on cable accommodating device 2.
The operation principle of cable protector 1 is as follows：Cable 4 when pulled, is walked between four tensioning wheels, works as pulling
When the tractive force of cable 4 is excessive, cable 4 pulls lever arm 12 to fold by with the frictional force of four tensioning wheels, and tractive force is bigger,
Lever arm 12 to fold amplitude bigger, once lever arm 12 reaches trigger position and touches microswitch 14, then main motor with around
Line motor is stopped, and robot stops traveling, and cable accommodating device 2 stops take-up, so as to prevent cable 4 because tractive force is excessive
And it is broken.
With reference to Fig. 5 and Fig. 6, the effect of cable accommodating device 2 is to store cable 4 to greatest extent in the confined space.Line
Cable storage device 2 in addition to including above-mentioned coiling electric motor, in addition to wire spool 20, tumbler 22, around line piece 23, fixed gear
24th, planetary gear 25, transmission mechanism, driving wheel 27, swing arm 28 and connecting rod 29.
The centre of wire spool 20 has for cable 4 around the upper face of cylinder, during installation one end face of wire spool 20 upward and
Other end is fixed in robot down.The center of the end face of wire spool 20 upward is provided with a rotating shaft 21, and tumbler 22 is in
Plate-like structure, and tumbler 22 is rotated on wire spool 20 in rotating shaft 21, it is defeated after coiling electric motor starts
Shaft 21 drives tumbler 22 to rotate.Also it is in plate-like structure around line piece 23, tumbler 22 is fixed on around the upper end of line piece 23
One end, the outside on the face of cylinder of wire spool 20 is extended to around the lower end of line piece 23, enclosed under drive of the line piece 23 in tumbler 22
Rotated around the face of cylinder of wire spool 20.Driving wheel 27 is rotatably mounted at around the lower end of line piece 23, and one end of swing arm 28 is prejudicially
It is articulated on driving wheel 27, i.e., has between pivot joint axis of the swing arm 28 on driving wheel 27 and driving wheel 27 pivot center of itself
There is spacing.One end of connecting rod 29 is articulated in be pivotally connected around line piece 23, the other end and the swing arm 28 of connecting rod 29, and driving wheel 27 drives when rotating
Swing up and down the other end of swing arm 28.Fixed gear 24 is fixed on the end face of wire spool 20 upward, and in fixed gear 24
Between perforate pass through for rotating shaft 21, therefore the pivot center of tumbler 22 overlaps with the central axis of fixed gear 24.Coiling electric motor
(not shown) is fixed on the other end of tumbler 22 and has two output shafts, planetary gear 25 be located under tumbler 22 and with
One category output axis connection of coiling electric motor, and planetary gear 25 engages with fixed gear 24.The planetary gear after coiling electric motor startup
25 rotations are simultaneously revolved round the sun using meshing relation around fixed gear 24.The revolution of planetary gear 25 is tumbler 22 to be turned on wire spool 20
It is dynamic to provide power.Transmission mechanism be arranged on tumbler 22 and in line piece 23 and with another output shaft of coiling electric motor and driving
The connection of wheel 27, coiling electric motor drive driving wheel 27 to rotate by transmission mechanism.
Specifically, pivot center of the pivot center of driving wheel 27 perpendicular to tumbler 22, swing arm 28 is on driving wheel 27
Pivot axis and connecting rod 29 around line piece 23, the pivot center of itself is put down with driving wheel 27 with the pivot axis in swing arm 28
OK.Connecting rod 29 includes orthogonal first paragraph 291 and second segment 292, and one end of first paragraph 291 is articulated in around line piece 23, the
One end of one section 291 of the other end and second segment 292 is fixed, and the other end and the swing arm 28 of second segment 292 are pivotally connected, first paragraph 291
The parallel plane defined with the swinging track of swing arm 28 of the plane that is defined of swinging track, and second segment 292 is perpendicular to pendulum
Arm 28.A cam link mechanism is constituted around line piece 23 and driving wheel 27, connecting rod 29 and swing arm 28 thereon, as shown in Figure 2.
In the present embodiment, it is synchronous to include the first runner 261, the second runner 262, the 3rd runner 263, second for transmission mechanism
Band 264, reduction box 265, actuator 266 and transmission component.
First runner 261 and the 3rd runner 263 are rotatably mounted on tumbler 22 respectively, and the first runner 261 by
Closely around one end of line piece 23, and the 3rd runner 263 is setting one end of planetary gear 25.Reduction box 265 is connected to coiling electric motor
Another output shaft and the 3rd runner 263 between, allow coiling electric motor to drive the 3rd runner 263 to rotate, and make the 3rd turn
The rotating speed of wheel 263 can be conditioned slower.First runner 261 and the 3rd runner 263 are synchronous pulleys, the second timing belt
264 are centered around outside the first runner 261 and the 3rd runner 263, and the second timing belt 264 passes to the rotation of the 3rd runner 263
First runner 261, the first runner 261 is set also to rotate.Second runner 262 is rotatably mounted at around the upper end of line piece 23, actuator
266 are connected between the second runner 262 and driving wheel 27 and the rotation of the second runner 262 are passed into driving wheel 27.Second turn
Wheel 262 and driving wheel 27 are all synchronous pulleys, and actuator 266 is the first timing belt and is centered around the second runner 262 and driving wheel
Outside 27.
Transmission component is arranged between the first runner 261 and the second runner 262, by transmission when the first runner 261 rotates
Component drives the second runner 262 to rotate.Specifically, due to the pivot center of the first runner 261 and the rotary shaft of the second runner 262
Line is mutually perpendicular to, therefore transmission component is using including intermeshing first bevel gear (not shown under Fig. 1 angles) and the second umbrella
The structure of gear 267, wherein the first bevel gear is fixed under the first runner 261 and the central axis of the first bevel gear and first
The central axis of runner 261 is overlapped, and the second bevel gear 267 is fixed in the side of the second runner 262 and the second bevel gear 267
Mandrel line overlaps with the central axis of the second runner 262.Transmission component can also be that other can realize vertical commutation transmission
Structure, such as worm and gear.
The course of work of cable accommodating device 2 is as follows：Carry out take-up when, coiling electric motor start, by planetary gear 25 with
The engagement of fixed gear 24 is driven to be rotated around line piece 23 and swing arm 28 around the face of cylinder of wire spool 20, at the same coiling electric motor further through
Transmission component and two synchronous pulley components drive driving wheel 27 to rotate.Driving wheel 27 connects the cam including it after rotating
Linkage deforms, and the result showed is exactly the free end of swing arm 28 can be during rotating not around wire spool 20
The motion to teeter is done disconnectedly.Cable 4 is put into swing arm 28 then around on wire spool 20 from top to bottom, and guiding is played in swing arm 28
And the effect of reason line, make cable 4 successively layer by layer on wire spool 20, process stabilization and uniform in effect.
Specifically, this folding and unfolding cable device also includes being fixed on robot and is located at cable protector and cable accommodating device
Between conduit 3, opening of the cable 4 from the upper end of conduit 3 after being passed down through fixed arm 11 penetrate, and cable 4 is from wire
The opening of the lower end of pipe 3 penetrate after on wire spool.
Compared with prior art, the cable protector in this folding and unfolding cable device utilizes fixed arm 11, lever arm 12 and bullet
Property part 13 form pulling force folder, and microswitch 14 and the pulley being made up of four tensioning wheels are provided with pulling force folder
Group, tractive force is controlled using the frictional force between cable 4 and tensioning wheel, once lever arm 12 folds arrival trigger position
And touch microswitch 14, then main motor or coiling electric motor stop, and so as to suspend the action of folding and unfolding cable, prevent cable 4 because of traction
Power is excessive and is broken, and realizes the purpose of protection cable 4.In addition, cable accommodating device passes through gear drive and link transmission two
The synchronizations for being implemented in combination with two actions that swing arm 28 is rotated and swung up and down around wire spool 20 of kind mode, make cable 4
On wire spool 20 and it can be connected up uniform under the guiding of swing arm 28.In addition, in cable accommodating device 2 only with one around
The synchronization that line motor acts with regard to that can complete above-mentioned two, without setting the electrical components such as encoder, sensor, therefore Flouride-resistani acid phesphatase energy
Power is low compared with strong, long working life, maintenance cost.
The Essential Action of transmission mechanism in the present invention is that the rotation of coiling electric motor output shaft is passed into driving wheel 27,
Transmission mechanism is specially two synchronous pulley components and a transmission component for including bevel gear in the present embodiment, in other implementations
In example or other can realize the structure of transmission, such as the gear train that multiple gears are formed, and during using gear train, drive
Driving wheel 27 can be gear.
Above disclosed is only the preferred embodiments of the present invention, its act on be it is convenient it will be understood by those skilled in the art that
And implement according to this, the interest field of the present invention can not be limited with this certainly, therefore made according to scope of the present invention patent
Equivalent variations, still fall within the scope that the present invention is covered.
Claims (10)
1. a kind of folding and unfolding cable device, there is the main electricity for driving the robot to advance in robot, in the robot
Machine, it is characterised in that：Cable protector including cable accommodating device and above the cable accommodating device；
The cable protector include fixed arm, lever arm, elastic component, microswitch, the first tensioning wheel, the second tensioning wheel and
3rd tensioning wheel, the fixed arm are fixed in the robot, one end of the lever arm and one end pivot of the fixed arm
Connect and the lever arm fixed arm can pivot to fold to a trigger position, the elastic component and be arranged at the fixed arm relatively
Between the lever arm and the elastic force for pivotally opening the relative fixed arm of the lever arm is provided, the microswitch is set
The junction of the fixed arm and the lever arm is placed in, the microswitch when the lever arm reaches the trigger position
It is triggered, first tensioning wheel and second tensioning wheel are rotatably arranged on the fixed arm and wherein described the respectively
Two tensioning wheels are rotatably arranged at the work closer to the junction of the fixed arm and the lever arm, the 3rd tensioning wheel
On swing arm,
The cable accommodating device include wire spool, coiling electric motor, tumbler, around line piece, fixed gear, planetary gear, driver
Structure, driving wheel, swing arm and connecting rod, the wire spool are fixed in the robot, and the fixed gear is fixed on the wire spool
End face on, the tumbler be rotatably arranged on the end face of the wire spool and the pivot center of the tumbler with it is described
The central axis of fixed gear overlaps, and the coiling electric motor is fixed on one end of the tumbler and has two output shafts, the row
The one output axis connection of star gear and the coiling electric motor simultaneously engage with the fixed gear, it is described be fixed on around line piece described in
The other end of tumbler simultaneously rotates under the drive of the tumbler around the face of cylinder of the wire spool, and the driving wheel rotates
Ground is installed in described in line piece, and one end of the swing arm is prejudicially articulated on the driving wheel, one end pivot of the connecting rod
It is pivotally connected described in being connected to around line piece, the other end of the connecting rod with the swing arm, the driving wheel drives the swing arm when rotating
The other end is swung up and down, and the transmission mechanism is arranged on the tumbler and described another in line piece and with the coiling electric motor
One output shaft and driving wheel connection, the coiling electric motor drive the driving wheel to rotate by the transmission mechanism,
The microswitch controls the main motor and/or the coiling electric motor.
2. folding and unfolding cable device as claimed in claim 1, it is characterised in that：The elastic component is around being located at the fixed arm and institute
State the torsion spring in the rotating shaft of lever arm.
3. folding and unfolding cable device as claimed in claim 1, it is characterised in that：The cable protector also includes the 4th tensioning
Wheel, the 4th tensioning wheel are rotatably arranged on the fixed arm and positioned at first tensioning wheels and second tensioning wheel
Between, projected position of the 3rd tensioning wheel on the fixed arm is located at first tensioning wheel and the 4th tensioning wheel
Between.
4. folding and unfolding cable device as claimed in claim 3, it is characterised in that：First tensioning wheel, the second tensioning wheel, the 3rd
The groove for accommodating cable is provided with the wheel face of bearing up pulley and the 4th tensioning wheel.
5. folding and unfolding cable device as claimed in claim 1, it is characterised in that：The pivot center of the driving wheel is perpendicular to described turn
The pivot center of moving part, pivot axis and the connecting rod of the swing arm on the driving wheel are described in line piece and swing arm
Pivot axis it is parallel with the pivot center of the driving wheel.
6. folding and unfolding cable device as claimed in claim 1, it is characterised in that：The transmission mechanism include the first runner, second turn
Wheel, transmission component and actuator, first runner and the second runner be rotatably arranged at respectively the tumbler and it is described around
In line piece, the output shaft of the coiling electric motor is connected with first runner and drives first runner to rotate, the transmission
Component is arranged between first runner and second runner, is driven when first runner rotates by the transmission component
Rotate second runner, the actuator is connected between second runner and the driving wheel and by described second turn
The rotation of wheel passes to the driving wheel.
7. folding and unfolding cable device as claimed in claim 6, it is characterised in that：The pivot center of first runner and described second
The pivot center of runner is mutually perpendicular to, and the transmission component includes intermeshing first bevel gear and the second bevel gear, wherein
First bevel gear is fixed with first runner and in the central axis of first bevel gear and first runner
Mandrel line overlaps, and second bevel gear and second runner are fixed and the central axis of second bevel gear and described the
The central axis of two runners overlaps.
8. folding and unfolding cable device as claimed in claim 6, it is characterised in that：The actuator is the first timing belt, described second
Runner and the driving wheel are synchronous pulley, first timing belt be centered around second runner and the driving wheel it
Outside.
9. folding and unfolding cable device as claimed in claim 6, it is characterised in that：The transmission mechanism also includes the 3rd runner, second
Timing belt and reduction box, first runner are arranged at one end of the tumbler, the coiling electric motor and the 3rd runner
Be arranged on the other end of the tumbler, the reduction box be connected to the coiling electric motor output shaft and the 3rd runner it
Between, first runner and the 3rd runner are synchronous pulley, second timing belt be centered around first runner with it is described
Outside 3rd runner.
10. folding and unfolding cable device as claimed in claim 1, it is characterised in that：The folding and unfolding cable device is also described including being fixed on
Robot and the conduit between the cable protector and the cable accommodating device, cable is from the conduit
Pass through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610410010.1A CN105958421B (en) | 2016-06-12 | 2016-06-12 | Folding and unfolding cable device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610410010.1A CN105958421B (en) | 2016-06-12 | 2016-06-12 | Folding and unfolding cable device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105958421A CN105958421A (en) | 2016-09-21 |
| CN105958421B true CN105958421B (en) | 2017-12-26 |
Family
ID=56907998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610410010.1A Active CN105958421B (en) | 2016-06-12 | 2016-06-12 | Folding and unfolding cable device |
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| CN111588614A (en) * | 2018-08-07 | 2020-08-28 | 赵林峰 | Trousers type private part massager |
| CN112225002A (en) * | 2020-09-22 | 2021-01-15 | 滁州兴邦聚合彩纤有限公司 | Chemical fiber paper tube for winding chemical fiber yarns |
| CN117394721B (en) * | 2023-12-11 | 2024-03-08 | 安徽国麒科技有限公司 | Integrated control device and method for optical storage and filling inspection |
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| GB1583750A (en) * | 1977-06-27 | 1981-02-04 | Scanway Eng Ltd | Welding apparatus |
| CN2867682Y (en) * | 2005-12-27 | 2007-02-07 | 宝山钢铁股份有限公司 | Cable protective device |
| CN201074148Y (en) * | 2007-09-21 | 2008-06-18 | 武汉钢铁(集团)公司 | Novel winding device for mobile equipment cable |
| FR2949224B1 (en) * | 2009-08-03 | 2011-07-29 | Denis Perrissinoto | WIRED MATERIAL HAMMER |
| CN103771197A (en) * | 2014-01-14 | 2014-05-07 | 安徽万泰电缆有限公司 | Device for preventing drag of random cable |
| CN205693316U (en) * | 2016-06-12 | 2016-11-16 | 中广核研究院有限公司 | Novel folding and unfolding cable device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1583750A (en) * | 1977-06-27 | 1981-02-04 | Scanway Eng Ltd | Welding apparatus |
| CN2867682Y (en) * | 2005-12-27 | 2007-02-07 | 宝山钢铁股份有限公司 | Cable protective device |
| CN201074148Y (en) * | 2007-09-21 | 2008-06-18 | 武汉钢铁(集团)公司 | Novel winding device for mobile equipment cable |
| FR2949224B1 (en) * | 2009-08-03 | 2011-07-29 | Denis Perrissinoto | WIRED MATERIAL HAMMER |
| CN103771197A (en) * | 2014-01-14 | 2014-05-07 | 安徽万泰电缆有限公司 | Device for preventing drag of random cable |
| CN205693316U (en) * | 2016-06-12 | 2016-11-16 | 中广核研究院有限公司 | Novel folding and unfolding cable device |
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| CN105958421A (en) | 2016-09-21 |
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