CN111618836A - Double-output winding rope driver - Google Patents

Double-output winding rope driver Download PDF

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Publication number
CN111618836A
CN111618836A CN202010369561.4A CN202010369561A CN111618836A CN 111618836 A CN111618836 A CN 111618836A CN 202010369561 A CN202010369561 A CN 202010369561A CN 111618836 A CN111618836 A CN 111618836A
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CN
China
Prior art keywords
gear
winding
motor
rope
ropes
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.)
Pending
Application number
CN202010369561.4A
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Chinese (zh)
Inventor
江励
唐黎明
熊达明
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Wuyi University
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Wuyi University
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Filing date
Publication date
Application filed by Wuyi University filed Critical Wuyi University
Priority to CN202010369561.4A priority Critical patent/CN111618836A/en
Publication of CN111618836A publication Critical patent/CN111618836A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Abstract

The invention provides a double-output winding rope driver which comprises a motor, a first gear, a second gear, a rotating shaft, a winding rope and an extension spring, wherein the second gear is arranged on a motor shaft of the motor and meshed with the first gear arranged on the rotating shaft, one end of the winding rope is connected with the rotating shaft, and the other end of the winding rope is connected with the extension spring through a connector and is connected with a sliding rail through a spring seat. The invention solves the problem that the contraction and release lengths of the ropes at the contraction end and the release end are different due to the nonlinear characteristic of rope winding driving by the compensation effect of the length generated by the elastic deformation generated by the extension spring; meanwhile, the problem of breakage caused by overlarge tension on the rope due to the asymmetry of the length of the winding rope is avoided, and on the other hand, the problem that the contraction end is used for offsetting the tension generated at the release end due to the asymmetry of the length is also avoided, so that the output force of the joint under the same condition is improved; and has a higher resistance to shock loads.

Description

Double-output winding rope driver
Technical Field
The invention relates to the technical field of robots, in particular to a double-output winding rope driver.
Background
The winding rope driver is used as a driving source and is one of driving schemes of the bidirectional rotary joint, and comprises a single-motor double-output winding rope driver and a pair of antagonistically arranged winding rope drivers. However, the output torque of the joint is low due to the inconsistent contraction and release lengths of the drive ropes at the two ends of the joint caused by the non-linear characteristics of the winding rope driver.
For the reason that the antagonism type winding rope drivers are used as the driving sources of the bidirectional rotary joints, the mode adopts a pair of winding rope drivers to realize the bidirectional movement function of the joints, so that the complexity of control is increased, and the production and manufacturing cost of the control system is further increased.
For the scheme of adopting a single-motor double-output winding rope driver as a driving source to realize the bidirectional movement of the joint, due to the existence of the nonlinear relation between the rotation angle of a motor and the contraction length of an output end rope in the winding rope driving scheme, the contraction speed of the contraction end rope is higher than the release speed of the release end rope in the operation process of the driver, and the phenomenon is more serious along with the increase of the rotation angle of the motor, so that a great part of the contraction force generated by the output end can be used for overcoming the tension generated at the release end, and the effective output force of the joint is gradually reduced along with the increase of the rotation angle of the joint. And for both of the above solutions, although the bidirectional revolute joint realized by them has a certain resistance to shock loads, this is very limited, and when the shock loads are too great, the components of the system, especially the wound ropes in which they are critical, can still be damaged and total failure can occur.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a double-output winding rope driver which can overcome the problems of large control difficulty caused by adopting a pair of winding rope drivers and the nonlinear output characteristic of a single-motor double-output winding rope driver.
The technical scheme of the invention is as follows: the utility model provides a dual output winding rope driver, includes gear mechanism, actuating mechanism, two pairs of winding ropes, two extension spring and slide rail mechanism, actuating mechanism be connected with gear mechanism to drive gear mechanism and rotate, two pairs of the one end of winding rope all be connected with gear mechanism, two pairs of the other end of winding rope be connected with corresponding extension spring respectively, and two pairs of the winding rope still be connected with slide rail mechanism.
Preferably, the tension spring has a lower elastic coefficient than the cord.
Preferably, each pair of said winding ropes comprises 2 ropes, and the two pairs of said winding ropes are wound in opposite directions in advance.
Preferably, the gear mechanism comprises a gear box, two rotating shafts, two first gears and a second gear, wherein the two rotating shafts, the two first gears and the second gear are arranged in the gear box, the two rotating shafts are respectively provided with the corresponding first gears, and the two first gears are meshed with the second gear.
Preferably, one end of each of the two rotating shafts is connected with a bearing seat through a corresponding bearing, the bearing seats are mounted on the gear box through corresponding screws, corresponding connecting holes are formed in the other end of each of the two rotating shafts, and the connecting holes are connected with one end of each of the winding ropes.
The driving mechanism comprises a motor box and a motor arranged in the motor box, and the motor box is connected with the gear box through a screw. And the motor output shaft of the motor extends towards the direction of the rotating shaft, the second gear is sleeved on the motor output shaft of the motor, the second gear is positioned between the two first gears and is meshed with the two first gears, the motor drives the second gear to rotate so as to drive the first gears to rotate, and the rotating shaft is driven to rotate in the rotating process of the first gears so as to wind or unwind the winding rope on the rotating shaft.
Preferably, the slide rail mechanism comprises a slide rail box and a linear slide rail arranged on the inner side wall of the slide rail box, the slide rail box is connected with the motor box through a corresponding screw, a sliding groove is formed in the inner side wall of the slide rail box, and the linear slide rail is arranged in the sliding groove.
Preferably, the slide rail box comprises a box body and an upper cover, and the upper cover is connected with the bottom box body through screws.
The linear slide rail on be provided with the spring holder, the spring holder in be provided with a connector, connector one end be connected with the winding rope, the other end is connected with extension spring, extension spring be connected with the haulage rope.
The connector is in threaded connection with the threaded hole of the spring seat through threads on the connector.
The invention has the beneficial effects that:
1. the single-motor double-output driving scheme is adopted, and compared with an antagonistic arrangement scheme of a pair of winding rope drivers, the control difficulty is greatly reduced;
2. the invention solves the problem that the contraction and release lengths of the ropes at the contraction end and the release end are different due to the nonlinear characteristic of rope winding driving by the compensation action of the length generated by the elastic deformation generated by the extension spring;
3. the invention avoids the problem of breakage caused by overlarge tension on the rope due to the asymmetry of the length of the winding rope, and on the other hand, the invention also avoids the condition that the contraction end is used for offsetting the tension generated at the release end due to the asymmetry of the length, thereby improving the output force of the joint under the same condition;
4. the elastic coefficient of the spring adopted by the invention is lower than that of the rope, so that the mechanism adopting the driver provided by the invention as the driving source of the bidirectional rotary joint has higher capability of resisting impact load, and when external overlarge impact load acts on the mechanism, the energy storage function of the spring can absorb the overhigh energy, thereby protecting the mechanism.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an internal structural view of the present invention;
FIG. 3 is a schematic structural view of the gear mechanism of the present invention;
FIG. 4 is a schematic structural diagram of the slide rail mechanism according to the present invention;
FIG. 5 is a schematic diagram of the present invention;
in the figure, 1-gear box, 2-rotating shaft, 3-first gear, 4-second gear, 5-bearing, 6-bearing seat, 7-motor box, 8-motor, 9-winding rope, 10-spring seat, 11-connector, 12-tension spring, 13-sliding rail box, 14-sliding groove, 15-linear sliding rail and 16-traction rope.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
as shown in fig. 1, the present embodiment provides a dual output winding rope driver, and the driver provided in the present embodiment mainly includes a gear mechanism, a driving mechanism, two pairs of winding ropes, two extension springs, and a sliding rail mechanism.
In the embodiment, the scheme of single-motor double-output driving is adopted, and compared with an antagonistic arrangement scheme of a pair of rope winding drivers, the control difficulty is greatly reduced; the disadvantages of conventional single motor dual output wrap cord drives are overcome by the introduction of an extension spring. When the contraction and release lengths of the ropes at the contraction end and the release end are different due to the non-linear characteristic of the driving of the winding ropes 9 (asymmetry of the lengths), the tension spring 12 will generate elastic deformation to generate length compensation. This avoids, on the one hand, a breakage of the winding cable 9, which is a critical component, due to an excessive tension on the cable caused by the asymmetry of the length, and, on the other hand, the contraction end serving to counteract the tension produced at the release end by the asymmetry of the length, thus increasing the output force of the joint under the same conditions. In addition, the elastic coefficient of the tension spring 12 is lower than that of the rope, so that the mechanism adopting the driver provided by the embodiment as the driving source of the bidirectional rotary joint has higher capability of resisting impact load. When an external overlarge impact load acts on the mechanism, the energy storage effect of the spring can absorb the overlarge energy so as to protect the mechanism.
As shown in fig. 2 and 3, the gear mechanism of the present embodiment includes a gear box 1, and two rotating shafts 2, two first gears 3, and a second gear 4 disposed in the gear box 1, wherein the two rotating shafts 2 are disposed in parallel in the gear box 1, and one end of each of the two rotating shafts 2 is connected to a bearing seat 6 through a corresponding bearing 5, so that the rotating shafts 2 rotate in the bearing seats 6 through the corresponding bearings 5, and the bearing seats 6 of the present embodiment are connected to the gear box 1 through corresponding screws. The two rotating shafts 2 are provided with corresponding first gears 3, the two first gears 3 are meshed with a second gear 4 positioned between the two first gears 3, the second gear 4 is connected with a driving mechanism, and the driving mechanism drives the second gear 4 to rotate, so that the two first gears 3 meshed with the second gear 4 are driven to rotate, and the corresponding rotating shafts 2 are driven to rotate. The other end of the two rotating shafts 2 is provided with corresponding connecting holes for fixing the winding rope 9.
Preferably, as shown in fig. 2 and 3, the driving mechanism comprises a motor box 7 and a motor 8 arranged in the motor box 7, and the motor box 7 is connected with the gear box 1 through screws. And the motor output shaft of the motor 8 extends towards the direction of the rotating shaft 2, the second gear 4 is sleeved on the motor output shaft of the motor 8, the motor 8 drives the second gear 4 to rotate, so that the first gear 3 is driven to rotate, and the rotating shaft 2 is driven to rotate in the rotating process of the first gear 3.
Preferably, as shown in fig. 4, the slide rail mechanism includes a slide rail box 13 and a linear slide rail 15, and the slide rail box 13 is connected with the motor box 7 through a corresponding screw. The slide rail box 13 of this embodiment includes box and upper cover, upper cover and bottom pass through screw connection.
The sliding rail box is characterized in that sliding grooves 14 are formed in two inner side walls of the sliding rail box 13, the linear sliding rail 15 is arranged in the sliding grooves 14, sliding blocks are arranged on the linear sliding rail 15, spring seats 10 are arranged on the sliding blocks, and connectors 11 are arranged in the spring seats 10.
In this embodiment, a threaded hole is formed in the spring seat 10, and the connector 11 is in threaded connection with the threaded hole of the spring seat 10 through threads on the connector.
Preferably, each pair of said winding ropes 9 comprises 2 ropes, and the two pairs of said winding ropes 9 are wound in opposite directions in advance.
And one end of each of the two pairs of winding ropes 9 is connected with the connecting hole of the rotating shaft 2, the other end of each of the two pairs of winding ropes is connected with one end of the connector 11, and the other end of the connector 11 is provided with an extension spring 12.
In this embodiment, the elastic coefficient of the tension spring 12 is lower than that of the winding rope 9.
As shown in fig. 5, wherein fig. 5(B) is an enlarged view of B in fig. 5(a), in actual use, the object to be driven is connected with the traction rope 16, and fig. 5(C) is a schematic view after driving.
In use, as shown in fig. 5, the two output ends of the driver are respectively connected with the connecting points on the two sides of the driven joint rotating shaft. The joint rotation can be controlled by controlling the positive and negative rotation of the motor 8.
In practical use, the two pairs of winding ropes 9 described in the present embodiment need to be wound in opposite directions in advance, i.e., in a pre-winding configuration.
When the motor 8 is driven, in the process that the first gear 3 drives the rotating shaft 2 to rotate, the two pairs of ropes of the winding ropes 9 rotate in opposite directions respectively, so that the ropes of one pair of the winding ropes 9 are continuously wound with each other, and the ropes of the other pair of the winding ropes 9 are unwound, so that the lengths of the ropes of the winding ropes 9 at the continuously winding ends are continuously reduced, namely, the contraction motion along the axial direction is generated, and the lengths of the ropes of the other pair of the winding ropes 9 are continuously increased due to the fact that the ropes of the other pair of the winding ropes 9 are unwound. The slider on the linear guide 15 connected thereto is also moved in the corresponding direction by the cable of the winding cable 9, so that the movement is transmitted via the traction cable 16 to the object to be driven.
In the present application, when the contraction and release lengths of the string at the contraction end and the release end are different (asymmetry of the length) due to the non-linear characteristic of the driving of the winding string 9, the extension spring 12 will be elastically deformed to compensate the length. This avoids, on the one hand, a breakage of the winding cable 9, which is a critical component, due to an excessive tension on the cable caused by the asymmetry of the length, and, on the other hand, the contraction end serving to counteract the tension produced at the release end by the asymmetry of the length, thus increasing the output force of the joint under the same conditions.
In addition, the elastic coefficient of the tension spring 12 adopted in the embodiment is lower than that of the winding rope 9, so that the mechanism adopting the actuator proposed in the embodiment as the driving source of the bidirectional rotary joint has higher capability of resisting impact load. When an external overlarge impact load acts on the mechanism, the energy storage effect of the spring can absorb the overlarge energy so as to protect the mechanism.
The foregoing embodiments and description have been presented only to illustrate the principles and preferred embodiments of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as hereinafter claimed.

Claims (10)

1. A dual output wrap cord drive, comprising: the driver adopts a single-motor double-output mode, and comprises a gear mechanism, a driving mechanism, two pairs of winding ropes, a sliding rail mechanism and 2 extension springs for compensating the length inconsistency of the release end and the contraction end of the winding ropes, wherein the elastic coefficient of each extension spring is smaller than that of each winding rope;
the driving mechanism is connected with the gear mechanism, the gear mechanism is driven to rotate, one end of each of the two pairs of winding ropes is connected with the gear mechanism, the other end of each of the two pairs of winding ropes is connected with the connector, the other end of each of the connectors is connected with the extension spring, the connector is connected with the sliding rail mechanism, and the other end of each of the extension springs is connected with an object to be driven through the traction rope.
2. The dual output wrap cord drive of claim 1, wherein: each pair of said winding ropes comprises 2 ropes, and the two pairs of said winding ropes are previously wound in opposite directions.
3. The dual output wrap cord drive of claim 2, wherein: if one pair of the winding ropes continues to wind, the other pair of the winding ropes unwinds.
4. The dual output wrap cord drive of claim 1, wherein: the gear mechanism comprises a gear box, two rotating shafts, two first gears and a second gear, wherein the two rotating shafts, the two first gears and the second gear are arranged in the gear box, the corresponding first gears are arranged on the two rotating shafts respectively, and the two first gears are meshed with the second gear.
5. The dual output wrap cord drive of claim 4, wherein: one end of the rotating shaft is connected with the bearing seat through a corresponding bearing, and the other end of the rotating shaft is connected with a winding rope.
6. The dual output wrap cord drive of claim 1, wherein: the driving mechanism comprises a motor box and a motor arranged in the motor box, and a second gear is connected to a motor output shaft of the motor.
7. The dual output wrap cord drive of claim 1, wherein: the slide rail mechanism comprises a slide rail box and a linear slide rail arranged on the inner side wall of the slide rail box.
8. The dual output wrap cord drive of claim 7, wherein: corresponding sliding grooves are symmetrically formed in the two inner side walls of the sliding rail box, the linear sliding rails are arranged in the sliding grooves, and corresponding sliding blocks are further arranged on the sliding rails.
9. The dual output wrap cord drive of claim 8, wherein: the novel rope winding device is characterized in that a spring seat is arranged on the sliding block, a connector is arranged in the spring seat, one end of the connector is connected with a winding rope, and the other end of the connector is connected with a tension spring.
10. The dual output wrap cord drive of claim 9, wherein: the connector is in threaded connection with the threaded hole of the spring seat through threads on the connector.
CN202010369561.4A 2020-05-04 2020-05-04 Double-output winding rope driver Pending CN111618836A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010369561.4A CN111618836A (en) 2020-05-04 2020-05-04 Double-output winding rope driver

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010369561.4A CN111618836A (en) 2020-05-04 2020-05-04 Double-output winding rope driver

Publications (1)

Publication Number Publication Date
CN111618836A true CN111618836A (en) 2020-09-04

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010369561.4A Pending CN111618836A (en) 2020-05-04 2020-05-04 Double-output winding rope driver

Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112097009A (en) * 2020-09-25 2020-12-18 杭州电子科技大学 Pipeline detection software robot and driving method thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112097009A (en) * 2020-09-25 2020-12-18 杭州电子科技大学 Pipeline detection software robot and driving method thereof
CN112097009B (en) * 2020-09-25 2021-12-21 杭州电子科技大学 Pipeline detection software robot and driving method thereof

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