CN109109017A - A kind of structured automatical thread-arranging-winding machine structure for cable traction machine people - Google Patents
A kind of structured automatical thread-arranging-winding machine structure for cable traction machine people Download PDFInfo
- Publication number
- CN109109017A CN109109017A CN201811059575.5A CN201811059575A CN109109017A CN 109109017 A CN109109017 A CN 109109017A CN 201811059575 A CN201811059575 A CN 201811059575A CN 109109017 A CN109109017 A CN 109109017A
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- Prior art keywords
- screw rod
- cable traction
- arranging
- screw
- machine people
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to joint of robot driving mechanisms, particularly for the structured automatical thread-arranging-winding machine structure of cable traction machine people, including the fixed holder part of screw rod and spiral winding line wheel motion parts, the fixed holder part of screw rod includes drive motor, support column, screw rod fixed block and screw rod, and reel motion parts include the first rotary flange, the second rotary flange, optical axis, linear bearing, spiral winding line wheel and feed screw nut；The mechanism is fixed by screw rod, realizes monomotor, equal pitch line retracting and winding displacement in such a way that motor drives feed screw nut's screw；Compared with conventional winding machine structure, only with a motor drive, structure is more compact, required part is less, it is readily integrated into robotically-driven control system, can guarantee that cable traction machine people drives line retracting radius of turn in end consistent, to guarantee that cable traction machine people drives end precision.
Description
Technical field
The present invention relates to joint of robot driving mechanism, especially a kind of automatic winding displacement for cable traction machine people around
Line mechanism.
Background technique
Cable traction machine people is a kind of Coupled Rigid-flexible mechanism formed using flexible rope and rigid mounting, using complete point
Cloth flexibility rope replaces rigid link transmission force and movement.Since rope can only be by pulling force without can be by thrust, for mechanism
Stablize, generally uses redundant drive or parallel way, and cable traction machine people is often parallel robot；Cable traction is simultaneously
Connection robot had outside the advantages of parallel robot, and it is light that there are also mechanism structures, and movement inertia is small, top load-mass ratio, working space
Greatly, the advantages that some special and dangerous place can be used for.
Cable traction parallel robot is all made of flexible rope transmission other than silent flatform and moving platform are rigidity, more
Root rope is connected to end simultaneously, by changing rope lengths, synthesizes end movement.Therefore, the line retracting precision at end is driven,
It is larger to robot end's location precision.The driving end of cable traction machine people is generally by the way of reel at present
Line retracting, the rotary motion of reel make that line is driven to become drive length on the circumference of reel；It, must in order to control precision
Must guarantee the consistent of radius of turn, but due to rope exist it is flexible, it is difficult to control, it is necessary to increase additional wire-arranging mechanism, to receive/
Unwrapping wire carries out proper alignment.Additional wire-arranging mechanism makes the robotically-driven end volume of rope larger, and structure is too fat to move, and increases volume
Outer control burden, such as to control a coiling winding displacement motor etc., cost is increased, system reliability is reduced. more.
Cable traction machine people drives reel radius in end that must be consistent in winding process, just can guarantee precision,
And winding displacement is needed, so that reel needs to have two freedom degrees of translation and rotation, wherein translation screw pitch is needed and restricted wide by one
It causes, just can guarantee that coiling is uniform.Cable traction machine people drives terminal structure to exist following insufficient at present:
1, coiling and winding displacement are separately controlled, and need additional motor and transmission mechanism；
Even if 2, using a motor drive, but rotary motion and translational motion mechanism separate, to installation requirement height；
3, driving end volume is big, and structure is not compact, it is difficult to realize miniaturization；
4, the smooth no restraint slot of coiling wheel surface, winding displacement spacing are different.
Summary of the invention
In order to solve the above-mentioned technical problem, the present invention proposes a kind of structured automatical thread-arranging-winding machine for cable traction machine people
Structure, screw rod is fixed, using motor drive feed screw nut's screw by the way of realize monomotor, equal pitch receive/
Unwrapping wire and winding displacement, cable traction machine people drive line retracting radius of turn in end consistent, to guarantee that cable traction machine people drives
Precision is held, it is compact-sized, it is at low cost.
The present invention adopts the following technical scheme that realization: a kind of structured automatical thread-arranging-winding machine structure for cable traction machine people,
Including the fixed holder part of screw rod and reel motion parts；
The fixed holder part of screw rod includes drive motor, support column, screw rod fixed block and screw rod；Drive motor passes through
Support column is connect with screw rod fixed block, forms outside support；Screw rod is fixedly connected on screw rod fixed block；
Reel motion parts include the first rotary flange, the second rotary flange, optical axis, linear bearing, spiral winding line wheel
And feed screw nut, the first rotary flange are fixedly connected with drive motor, the first rotary flange passes through optical axis and the second rotary process
Orchid is fixedly connected to form internal stent, and the first rotary flange and the second rotary flange are embedding respectively there are two swivel bearing and to be socketed in
Screw rod shaft shoulder both ends, internal stent form revolute pair by two swivel bearings and outside support；Feed screw nut and spiral coil
The coaxial line of wheel is fixedly connected, and linear bearing is embedded in spiral winding line wheel, and feed screw nut and screw rod are combined into screw pair, directly
Spool, which is held, forms sliding pair with optical axis；
Drive motor rotational movement internal stent moves, and the optical axis in internal stent generates torque, and screw rod is fixed
Screw motionless, that spiral coil wheel drives feed screw nut to realize on screw rod while rotating and being translatable.
The spiral winding line wheel is equipped with slots with the consistent helix of line width.Helix grooved section is semicircle.
This patent have the following advantages compared with the prior art and the utility model has the advantages that
1, the present invention includes the fixed holder part of screw rod and spiral winding line wheel motion parts, is had while coiling and winding displacement
Function；And the conventional silk of screw rod rotary motion, feed screw nut's translational motion in the prior art is changed as power by motor
Bar usage mode, but screw rod is fixed, in such a way that motor drives feed screw nut's screw, realize that rope is led
Draw robot driving joint equal pitch, etc. radiuses line retracting, i.e., when line retracting spiral winding line wheel coiling radius begin
It is constant eventually, it is ensured that the precision at cable traction machine people driving end.
2, rotary motion and translational motion are integrated in a mechanism by the present invention compared with conventional winding machine structure, around
Line and the installation of wire-arranging mechanism coaxial line, only can be realized winding displacement and coiling with a motor drive, structure is more compact, required
Part is less, and save the cost and space are readily integrated into robotically-driven control system.
3, spiral coil wheel surface of the present invention has helix groove, can passively adaptive rope configuration, reduction installation requirement arrange
Line spacing is uniform.
4, line retracting guide roller of the present invention can be placed any position in feed screw nut's movement travel, will not influence winding displacement
Coiling effect.
Detailed description of the invention
Fig. 1 is a kind of structured automatical thread-arranging-winding machine structure structural schematic diagram for cable traction machine people；
Fig. 2 is reel motion parts schematic diagram；
Fig. 3 is the fixed holder part schematic diagram of screw rod；
Fig. 4 is the usage state diagram for cooperating line retracting guide roller；
In figure: the second rotary flange of 1-, 2- screw rod, 3- linear bearing, 4- optical axis, the first rotary flange of 5-, 6- driving electricity
Motivation, 7- swivel bearing, 8- spiral winding line wheel, 9- feed screw nut, 10- support column, 11- screw rod fixed block, 12- line retracting are led
Line wheel, 13- drive rope.
Specific embodiment
The present invention is described in further details with reference to the accompanying drawings and examples, but embodiments of the present invention are not limited to
This.
Embodiment
As shown in Figure 1-3, the present invention is used for the structured automatical thread-arranging-winding machine structure of cable traction machine people, including the fixed branch of screw rod
Frame part and reel motion parts.
Wherein, screw rod fixation holder part includes: drive motor 6, support column 10, screw rod fixed block 11 and screw rod 2, sheet
Support column is equipped with four in embodiment.
Drive motor 6 is 42 stepping motors, and Motion Resolution rate is 25600pulse/round, passes through four diameters
The support column 10 of 5mm is connected by screw to screw rod fixed block 11, forms outside support；There is screw rod peace in the middle part of screw rod fixed block 11
Hole is filled, the end of screw rod 2 has pingbian, and screw rod 2 is fixedly connected on screw rod fixed block 11 in such a way that screw withstands pingbian.
It is partially drive motor 6 under the entire fixed holder part of screw rod, upper part is screw rod fixed block 11, with four 10 shapes of support column
It is stationary state, no relative motion for the fixed relatively entire mechanism of holder part of entire screw rod at frame.
Reel motion parts include: the first rotary flange 5, the second rotary flange 1, optical axis 4, linear bearing 3, spiral winding
Line wheel 8 and feed screw nut 9.
First rotary flange 5 is fixedly connected with drive motor 6, and the first rotary flange 5 passes through the optical axis of four 3mm diameters
4 and second rotary flange 1 be fixedly connected to form internal stent.First rotary flange 5 and the second rotary flange 1 distinguish it is embedding there are two
Swivel bearing 7 is socketed in the shaft shoulder both ends of screw rod 2, and screw rod 2 and screw rod fixed block 11 are stationary, and internal stent passes through two rotations
Shaft holds 7 and forms revolute pair with outside support；The feed screw nut 9 that lead is 2mm and the spiral winding line wheel 8 with 2mm screw pitch
Coaxial line is fixedly connected by screw, and the linear bearing 3 of four 3mm internal diameters is embedded in spiral winding line wheel 8, and feed screw nut 9
It is combined into screw pair with screw rod 2, linear bearing 3 and optical axis 4 form sliding pair, can be to translate in rotation.
The output shaft of drive motor 6 is fixedly connected with 5 coaxial line of the first rotary flange, drive motor rotary motion band
Dynamic internal stent moves, and four optical axises in internal stent generate torque, and screw rod 2 is fixed, and spiral winding line wheel 8, which drives, fixes
The screw that the feed screw nut 9 of connection realizes on screw rod while rotating and being translatable, rotational motion are used for coiling, translational motion
For winding displacement, coiling is coupled with winding displacement movement, is completed at the same time.Between optical axis 4 and linear bearing 3 exist simultaneously rotate and be translatable
Screw.
In the present embodiment, screw rod 2 and feed screw nut 9 are mating, and screw rod is the trapezoidal screw that lead is 2mm, and have and disappear
Gap spring；The 3mm optical axis 4 and linear bearing 3 are mating；The spiral winding line wheel 8 have 8 circle winding lengths, can receiving/releasing about
800mm long, the rope that diameter is 2mm.
In the present embodiment, the semicircular spin line of 2mm diameter slots in spiral winding line wheel 8, with rope line footpath used
Unanimously, in the screw that feed screw nut 9 drives spiral winding line wheel 8 to do while rotating and being translatable, i.e., in winding displacement winding process
In, in the above-mentioned slot of the insertion for keeping rope adaptive, there is certain fault-tolerance, helix fluting can guarantee spacing one after coiling
It causes.Line width, screw lead, reel effective radius, it is as follows that motor rotates the relationships such as angle:
In formula: L is line retracting length, unit mm；α is motor rotation angle, unit o；R is reel effective radius, single
Position mm；
D=d=n (2)
In formula: D is screw lead, unit mm/round；D is reel screw pitch, unit mm/round；N is line footpath, unit
mm。
That is, the screw of spiral winding line wheel 8 is generated by four optical axises 4 in internal stent in the present embodiment
Torque and transmit；Drive motor 6 rotates, and the rotation of the first rotary flange 5 is driven, so that optical axis 4 be made to produce in spiral winding line wheel 8
Raw torque, realizes the radial rotary centered on screw rod 2, and realize sliding in the axial direction with linear bearing 3；Spiral winding line wheel 8
The linear bearing 3 being nested with exists simultaneously two kinds of movements of rotation and translation relative to optical axis 4, while realizing winding displacement and coiling.Such as
Shown in Fig. 4, line retracting guide roller 12 can be placed any position in 9 movement travel of feed screw nut, will not influence winding displacement coiling effect
Fruit.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the protection of the claims in the present invention within spirit and principle
Within the scope of.
Claims (8)
1. a kind of structured automatical thread-arranging-winding machine structure for cable traction machine people, which is characterized in that including the fixed cradle portion of screw rod
Divide and reel motion parts；
The fixed holder part of screw rod includes drive motor, support column, screw rod fixed block and screw rod；Drive motor passes through support
Column is connect with screw rod fixed block, forms outside support；Screw rod is fixedly connected on screw rod fixed block；
Reel motion parts include the first rotary flange, the second rotary flange, optical axis, linear bearing, spiral winding line wheel and silk
Stem nut, the first rotary flange are fixedly connected with drive motor, and the first rotary flange is solid by optical axis and the second rotary flange
Fixed connection forms internal stent, and the first rotary flange and the second rotary flange are embedding respectively there are two swivel bearing and to be socketed in screw rod
Shaft shoulder both ends, internal stent form revolute pair by two swivel bearings and outside support；Feed screw nut and spiral winding line wheel are same
Axis is fixedly connected, and linear bearing is embedded in spiral winding line wheel, and feed screw nut and screw rod are combined into screw pair, linear bearing
Sliding pair is formed with optical axis；
Drive motor rotational movement internal stent moves, and the optical axis in internal stent generates torque, and screw rod is fixed,
The screw that spiral coil wheel drives feed screw nut to realize on screw rod while rotating and being translatable.
2. the structured automatical thread-arranging-winding machine structure according to claim 1 for cable traction machine people, which is characterized in that driving
The output shaft of motor is fixedly connected with the first rotary flange coaxial line.
3. the structured automatical thread-arranging-winding machine structure according to claim 1 for cable traction machine people, which is characterized in that spiral
Reel is equipped with slots with the consistent helix of line width.
4. the structured automatical thread-arranging-winding machine structure according to claim 3 for cable traction machine people, which is characterized in that described
Helix grooved section is semicircle.
5. the structured automatical thread-arranging-winding machine structure according to claim 1 for cable traction machine people, which is characterized in that screw rod
End have pingbian, screw rod is fixedly connected on screw rod fixed block in such a way that screw withstands pingbian.
6. the structured automatical thread-arranging-winding machine structure according to claim 1 for cable traction machine people, which is characterized in that described
Support column is equipped with four.
7. the structured automatical thread-arranging-winding machine structure according to claim 1 for cable traction machine people, which is characterized in that described
There are four linear bearing is set.
8. the structured automatical thread-arranging-winding machine structure according to claim 1 for cable traction machine people, which is characterized in that described
Screw rod is the trapezoidal screw that lead is 2mm, has anti-backlash.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811059575.5A CN109109017B (en) | 2018-09-12 | 2018-09-12 | Automatic wire arranging and winding mechanism for rope traction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811059575.5A CN109109017B (en) | 2018-09-12 | 2018-09-12 | Automatic wire arranging and winding mechanism for rope traction robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109109017A true CN109109017A (en) | 2019-01-01 |
| CN109109017B CN109109017B (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811059575.5A Active CN109109017B (en) | 2018-09-12 | 2018-09-12 | Automatic wire arranging and winding mechanism for rope traction robot |
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| Country | Link |
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| CN (1) | CN109109017B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895079A (en) * | 2019-04-22 | 2019-06-18 | 哈尔滨工业大学（威海） | A kind of full freedom degree non-individual body mechanical arm |
| CN110015589A (en) * | 2019-05-13 | 2019-07-16 | 河北华友古建筑工程股份有限公司 | A kind of portable cable laying frame |
| CN110038982A (en) * | 2019-01-24 | 2019-07-23 | 浙江田中精机股份有限公司 | A kind of bus cable device of electronic cigarette winding mechanism |
| CN114654458A (en) * | 2022-04-08 | 2022-06-24 | 四川大学 | Spiral transmission type rope-driven mechanical arm and control method thereof |
| CN114955909A (en) * | 2022-03-18 | 2022-08-30 | 南京农业大学 | Indoor robot positioning device and positioning method based on parallel rope mechanism |
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| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN106989152A (en) * | 2017-04-18 | 2017-07-28 | 中国科学技术大学 | A kind of high-precision wire drive |
| CN107225564A (en) * | 2017-05-17 | 2017-10-03 | 中国科学院自动化研究所 | A kind of Snakelike mechanical arm rolled up |
| CN107756388A (en) * | 2017-12-01 | 2018-03-06 | 南开大学 | A kind of physical man-machine interactive platform based on wire saws series connection flexible drive |
| CN108422410A (en) * | 2018-03-05 | 2018-08-21 | 东南大学 | A kind of bionical parallel robot of the adjustable rope driving of rigidity |
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2018
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN106989152A (en) * | 2017-04-18 | 2017-07-28 | 中国科学技术大学 | A kind of high-precision wire drive |
| CN107225564A (en) * | 2017-05-17 | 2017-10-03 | 中国科学院自动化研究所 | A kind of Snakelike mechanical arm rolled up |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110038982A (en) * | 2019-01-24 | 2019-07-23 | 浙江田中精机股份有限公司 | A kind of bus cable device of electronic cigarette winding mechanism |
| CN110038982B (en) * | 2019-01-24 | 2024-05-31 | 浙江田中精机股份有限公司 | Winding displacement device of electronic cigarette winding mechanism |
| CN109895079A (en) * | 2019-04-22 | 2019-06-18 | 哈尔滨工业大学（威海） | A kind of full freedom degree non-individual body mechanical arm |
| CN109895079B (en) * | 2019-04-22 | 2022-03-04 | 哈尔滨工业大学（威海） | Full-freedom-degree continuum mechanical arm |
| CN110015589A (en) * | 2019-05-13 | 2019-07-16 | 河北华友古建筑工程股份有限公司 | A kind of portable cable laying frame |
| CN110015589B (en) * | 2019-05-13 | 2024-03-05 | 河北华友文化遗产保护股份有限公司 | Portable cable laying frame |
| CN114955909A (en) * | 2022-03-18 | 2022-08-30 | 南京农业大学 | Indoor robot positioning device and positioning method based on parallel rope mechanism |
| CN114654458A (en) * | 2022-04-08 | 2022-06-24 | 四川大学 | Spiral transmission type rope-driven mechanical arm and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN109109017B (en) | 2023-10-20 |
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