CN111776891A - Wire take-up device - Google Patents
Wire take-up device Download PDFInfo
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- CN111776891A CN111776891A CN202010800359.2A CN202010800359A CN111776891A CN 111776891 A CN111776891 A CN 111776891A CN 202010800359 A CN202010800359 A CN 202010800359A CN 111776891 A CN111776891 A CN 111776891A
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- cable
- take
- guide
- state
- wire
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
- B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
- B65H75/425—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles attached to, or forming part of a vehicle, e.g. truck, trailer, vessel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/36—Wires
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Abstract
The embodiment of the application discloses take-up, include: a base plate; at least two wire wheels movably arranged on the bottom plate; the guide structure is arranged on the bottom plate and used for guiding the movement of the at least two wire wheels; the guide structure enables the at least two wire wheels to be gathered in the moving process.
Description
Technical Field
The application relates to the technical field of mechanical arms, in particular to a take-up device.
Background
When the mechanical arm performs operation, the tail end of the mechanical arm is connected with a working instrument, and the working instrument is often connected with a cable for supporting the working instrument to work. Generally, when the mechanical arm performs work, the mechanical arm needs to move rapidly and frequently, and in the process, cables connected to a working instrument need to be reasonably stored and guided, so that the situation that the movement of the mechanical arm is blocked or burdened due to overlong or too short or disorder cables is avoided.
Therefore, it is necessary to provide a wire take-up device to take up and guide the wire on the mechanical arm during the operation of the mechanical arm.
Disclosure of Invention
One of the embodiments of this specification provides a take-up device, includes: a base plate; at least two wire wheels movably arranged on the bottom plate; the guide structure is arranged on the bottom plate and used for guiding the movement of the at least two wire wheels; the guide structure enables the at least two wire wheels to be gathered in the moving process.
Drawings
The present application will be further explained by way of exemplary embodiments, which will be described in detail by way of the accompanying drawings. These embodiments are not intended to be limiting, in that, like numerals indicate like structures,
wherein:
FIG. 1 is a schematic view of a take-up assembly according to some embodiments of the present application;
FIG. 2 is a schematic view of cable elongation of a take-up device according to other embodiments of the present application
FIG. 3A is a schematic view of a spool of a take-up device shown in accordance with some embodiments of the present application in a disengaged state;
FIG. 3B is a schematic view of the spool of the take-up device shown in accordance with some embodiments of the present application in a disengaged state;
FIG. 4 is a schematic view of a take-up device according to other embodiments of the present application;
fig. 5 is a schematic view of an application scenario of a wire rewinding device according to some embodiments of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments or implementations, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the terms "first," "second," and the like as used in the description and in the claims, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. Unless otherwise indicated, "front", "rear", "lower" and/or "upper" and the like are for convenience of description and are not limited to one position or one spatial orientation. The word "comprising" or "comprises", and the like, means that the element or item listed as preceding "comprising" or "includes" covers the element or item listed as following "comprising" or "includes" and its equivalents, and does not exclude other elements or items.
The wire take-up device of one or more embodiments of the present application can be applied to mechanical arm equipment or robots of different industries, for example, industrial robots, medical robots, large medical equipment, and the like. Including but not limited to handling robots, welding robots, laser working robots, cleaning robots, etc. The medical robot includes, but is not limited to, a surgical robot, a rehabilitation robot, a transfer robot, a rescue robot, and the like. The large medical devices include, but are not limited to, Angiography (DSA), Digital Breast Tomography (DBT), and the like. By way of example only, the description is made with a welding robot: the end of the arm of the welding robot is equipped with an operating instrument (e.g., a welding gun) to which a cable for supplying welding power is connected. During operation, the tail end of the mechanical arm drives the welding gun to move to perform welding operation, and the tail end of the mechanical arm drives the cable to move and stretch. In order to avoid winding of the cable and the mechanical arm in the moving process of the welding gun, the cable take-up device can be used for accommodating and guiding the cable and retracting the cable in the moving process of the welding gun.
In some embodiments, the wire take-up device is provided with a wire wheel or a wire wheel group consisting of a plurality of wire wheels which can move along a straight line direction, and the cable is wound on the wire wheel or the wire wheel group and is guided by the wire wheel or the wire wheel group. When the tail end of the mechanical arm moves, the cable can pull the wire wheel or the wire wheel group to move along the linear direction, and the position of the wire wheel or the wire wheel group in the linear direction is changed. Because the cable is wound on the wire wheel or the wire wheel group, when the wire wheel or the wire wheel group moves in the linear direction, the winding contact point of the cable on the wire wheel or the wire wheel group also moves in the linear direction, so that the cable can extend in the linear direction. In this embodiment, since the pulley or the pulley set can only move along a straight line, the elongation of the cable is limited by the movement distance of the pulley or the pulley set in the straight line direction, and in a limited structural volume of the wire rewinding device, a larger elongation of the cable is difficult to achieve.
The take-up device of some embodiments of the present application has a plurality of independently movable reels, and each reel is configured with a guide structure that provides guidance for its movement. The guide structure can enable each wire wheel to move along different paths, and the plurality of wire wheels can be gathered in the moving process. When the cable drives the plurality of wire wheels to move, the winding position of the cable is changed in the process of gathering the plurality of wire wheels, so that the extension amount is provided for the cable; and the winding length of the cable on the plurality of reels is shortened, so that extra elongation is provided for the cable. The in-process that the take-up's of some embodiments of this application a plurality of lines wheel are gathering together, and its orientation center of gathering together can take place to move, provides extra displacement for the cable on a plurality of lines take turns around the position, and then provides bigger elongation for the cable.
It should be understood that the application scenarios of the wire rewinding device of the present application are only examples or embodiments of the present application, and it is obvious for a person skilled in the art that the present application can also be applied to other similar scenarios according to the drawings without any creative effort.
Fig. 1 is a schematic structural view of a wire takeup device according to some embodiments of the present application.
As shown in fig. 1, the wire rewinding device 100 may include a bottom plate 10, at least two pulleys 20, and a guide structure 30, wherein the pulleys 20 are movably disposed on the bottom plate 10, and the guide structure 30 is used for guiding the movement of the pulleys 20.
In some embodiments, the base plate 10 may be used to support the pulley 20 and the guide structure 30. In some embodiments, the base plate 10 may also be used to mount the wire takeup device 100 on a medical apparatus 200 (shown in fig. 5). For example, the base plate 10 may include a plurality of bolt holes therein, and the base plate 10 and the mechanical arm 202 of the medical device 200 may be coupled by bolts to mount the wire takeup device 100 on the mechanical arm 202.
In some embodiments, at least two pulleys 20 are disposed discretely on the base plate 10. In some embodiments, the number of pulleys 20 may be two. In some embodiments, the number of pulleys 20 may be three. In some embodiments, the number of pulleys 20 may also be four. In some embodiments, the number of pulleys 20 may also be five. In some embodiments, the shape of the pulley may include, but is not limited to, a bottleneck shape, a cylinder shape, a cone shape, and the like. In some embodiments, each pulley 20 is movable relative to the base plate 10. In some embodiments, each pulley 20 may move independently. In some embodiments, multiple pulleys 20 may also move together. In some embodiments, the pulley 20 may be movably guided by the guide structure 30 as it moves relative to the base plate 10. In some embodiments, the guide structure 30 may guide the movement of each pulley 20 individually. In some embodiments, the guide structure 30 can also guide the movement of all the pulleys 20 at the same time. In some embodiments, the pulleys 20 can be gathered during the movement by guiding by the guiding structure 30, wherein the gathering is understood to mean that the distance between at least two pulleys 20 becomes smaller during the movement. In some embodiments, some of the at least two pulleys 20 can be gathered together during the movement, and the distance between the rest of the at least two pulleys 20 is kept constant during the movement, in some embodiments, all of the at least two pulleys 20 can be gathered together during the movement. For example, when the number of the pulleys 20 is three, the distance between two pulleys is kept constant during the movement, and the distance between the other pulley and the other two pulleys is gradually reduced during the movement. For another example, when the number of the pulleys 20 is three, the distance between every two pulleys is gradually reduced during the movement of the three pulleys.
In some embodiments, a guide structure 30 may be provided on the base plate 10 for guiding the movement of the wire wheel 20. In some embodiments, the guide structure 30 may guide at least two pulleys 20 to move along a straight line. In some embodiments, the guide structure 30 may also guide the movement of at least two pulleys 20 along a curve. In some embodiments, the direction of movement of a portion of at least two reels 20 may be the same (i.e., the distance remains constant during movement) guided by the guide structure 30. In some embodiments, the direction of movement of some of the at least two reels 20 may also be different (i.e., the distance during movement becomes smaller) guided by the guide structure 30. For example, the number of the pulleys 20 is three, the moving directions of two pulleys are parallel, and a certain angle is formed between the moving direction of the other pulley and the moving directions of the two pulleys. For another example, the number of the pulleys 20 is three, and the movement directions of the three pulleys intersect with each other. In some embodiments, the direction of movement of the pulley may be determined by the guide structure 30. For example, if the direction of the guide structure 30 is the same, the movement direction of the pulley 20 is the same; if the extension lines of the guide structures 30 intersect, the moving directions of the wire wheels 20 intersect. See the description below for a specific structure of the guide structure 30.
In some embodiments, as shown in fig. 1, guide structure 30 may include at least two guides 301 in one-to-one correspondence with each of the at least two pulleys 20, each guide 301 for providing motion guidance for one pulley 20. In some embodiments, the guide portion 301 may be fixedly connected to the base plate 10, and the fixedly connected connection may include, but is not limited to, gluing, hot press molding, riveting, integral molding, and the like. In some embodiments, the guiding portion 301 may also be detachably connected to the base plate 10, and the detachable connection may include, but is not limited to, a bolt connection, a snap connection, and the like. In some embodiments, the wire takeup device 100 can be replaced with a guide part of different shape or type or material as required by the detachable connection of the guide part 301 with the base plate 10.
In some embodiments, the guide 301 may be a rail structure. In some embodiments, the guide portion 301 may also be a channel structure. In some embodiments, one portion of the guide portion 301 may be a guide rail structure and the other portion may be a guide groove structure. In some embodiments, pulley 20 may include a slider 201 that cooperates with the guide rail or channel such that pulley 20 may slide in the guide rail or channel. In some embodiments, the side of the sliding block 201 may be provided with a plurality of balls or rollers to reduce the friction generated when the pulley 20 slides.
In some embodiments, as shown in fig. 3A, the guide 301 may comprise a curvilinear guide that may cause the pulley 20 with which it is mated to move in a curve. In some embodiments, the curvilinear guides are arranged in a diverging pattern on the base plate 10. The divergent shape may be understood as that at least two guide portions 301 have one end away from each other and the other end converging to each other. The divergence direction of the divergence shape is as follows: diverging in a direction away from the extended end 502 of the cable 50 (see fig. 5). In some embodiments, the curved guide portion may have different curves and/or curvatures and/or lengths, and may also have the same length. In some embodiments, after the curved guides are arranged in a diverging manner, the at least two reels 20 may move from the diverging ends to the converging ends of the at least two guides 301, so that the at least two reels 20 can converge during the movement. With further reference to fig. 3A, the diverging end refers to an end where the end points of the at least two guiding portions 301 are far away from each other, that is, an end where the at least two guiding portions 301 are located on the left side of fig. 3A; the gathered end refers to an end where end points of the at least two guide portions 301 are close to each other, that is, an end where the at least two guide portions 301 are located on the right side of fig. 3A.
In some embodiments, as shown in fig. 4, the guide 301 may include a linear guide that may cause the pulley 20 with which it is mated to move in a straight line. In some embodiments, the linear guides may be different in length or the same in length. In some embodiments, when the guide 301 includes a straight guide, extension lines of the guide 301 may be parallel to each other. In some embodiments, when the guide 301 comprises a straight guide, the extension lines of the guide 301 may also intersect two by two. In some embodiments, when the guide portion 301 comprises a straight guide portion, the extension lines of the guide portions 301 may also be partially parallel and partially intersecting. In some embodiments, when the guide portions 301 comprise straight guide portions, extension lines of at least two of the guide portions 301 intersect. In some embodiments, the intersection of the extension lines of at least two of the guides 301 may enable at least two of the pulleys 20 to be gathered during movement.
In some embodiments, as shown in fig. 1, the wire rewinding device 100 may further include a restoring structure 40 for providing a restoring force to the at least two pulleys 20 from the converging state to the diverging state. In some embodiments, the gathered state may be understood as a position state in which at least two pulleys 20 are close to each other, and the separated state may be understood as a position state in which at least two pulleys 20 are far from each other. In some embodiments, the bunched state may correspond to a pay-off position of the take-up device 100 (i.e., a cable stretch on the take-up device 100); the separated state corresponds to the wire takeup position of the wire takeup device 100 (i.e., the wire on the wire takeup device 100 is retracted). In some embodiments, the restoring structure 40 may be fixedly connected to the base plate 10. In some embodiments, the reduction structure 40 may also be fixedly connected to the guide portion 301.
In some embodiments, the returning structure 40 may include returning members 401 corresponding to the at least two reels 20 one by one, wherein each returning member 401 may provide a returning force to the reel 20 corresponding thereto from the converging state to the diverging state. In some embodiments, the reset element 401 may comprise a constant force spring, one end of which is fixed to the bottom plate and the other end of which is fixed to the reel. In some embodiments, when the pulley 20 is in the disengaged state, the constant force spring is in an undeformed state; when the pulley 20 moves from the separated state to the gathered state, the constant force spring is stretched, and the constant force spring accumulates elastic force which can return the pulley 20 from the gathered state to the separated state. The constant force spring can provide constant restoring force, so that the process of returning the wire wheel 20 from the gathering state to the separating state is more stable and controllable. In some embodiments, the restoring member 401 may also include a coil spring, an air spring, or the like. For example, one end of a coil spring is fixed on the bottom plate 10, the other end is fixed on the pulley 20, when the pulley 20 moves from the separated state to the gathered state, the coil spring is deformed to accumulate an elastic force, and the pulley 20 can return from the gathered state to the separated state under the action of the elastic force.
In some embodiments, the restoring structure 40 may also include one restoring member, and the one restoring member may simultaneously provide restoring force to all of the reels 20 from the gathered state to the separated state. For example, the one reset member may be an air spring (including an air bag), the air spring is fixed on the bottom plate 10, all the reels 20 may be fixed on the air bag of the air spring, when the reels 20 move from the separated state to the gathered state, the reels 20 compress the air bag to accumulate an elastic force, and the elastic force may restore all the reels 20 to the separated state.
In some embodiments, referring further to fig. 5, the wire takeup device 100 may also include the cable 50. In some embodiments, the cable 50 includes a fixed end 501 fixed to the robot arm 202 and an extended end 502 extending toward the robot arm end 201 of the robot arm 202 after being looped around the at least two reels 20. Wherein the extension end 502 is fixedly connected to an instrument on the end 201 of the robotic arm. The wrapping may be understood as the cable 50 being arranged around at least two reels 20 and being in contact connection with each reel. In some embodiments, the extended end 502 of the cable 50 may move in response to movement of the robot arm end 201. In some embodiments, when the extending end 502 of the cable 50 moves toward its extending direction, the cable 50 can drive at least two reels 20 to move from the separated state to the gathered state, so as to realize the paying-off action. In some embodiments, when the extending end 502 of the cable 50 moves in a direction opposite to the extending direction thereof, the restoring force of the restoring member drives the at least two reels 20 to move from the gathering state to the separating state, so as to drive the cable 50 to be retracted, thereby realizing the wire retracting action.
In some embodiments, during the process that the cable 50 drives the at least two reels 20 to move from the separated state to the gathered state, the wrapping position C and the length of the wrapping portion of the cable 50 on the at least two reels 20 are changed. The winding position C is an end position where the cable 50 is wound around at least two reels 20. The wire-wrapped portion refers to a portion from the fixed end 501 of the cable 50 to the wire-wrapped position C. Through this movement, the extension end 502 of the cable 50 can move relative to the initial position where it is located, and the extension or contraction of the cable 50 is achieved. In some embodiments, the initial position is a position where the extended end 502 of the cable 50 is located when at least two reels 20 are in a separated state.
Fig. 2 is a schematic view of cable extensions of a take-up device according to other embodiments of the present application.
The elongation of the cable 50 when the wire reel 20 moves from the spaced-apart state to the gathered state will be described below with reference to fig. 2.
Fig. 2 shows the position of the cable 50 when the pulley 20 is in the separated state and the gathered state. When the pulley 20 is in the separated state, the winding position of the cable 50 on the pulley 20 is C1, the length of the winding part of the cable 50 on the pulley 20 is L1 (i.e. the length of the cable from the fixed end 501 to the winding position C1), and the length of the extending part of the cable 50 is L2, wherein:
l1+ L2 ═ L (formula 1)
Where L is the total length of the cable 50.
When the reel 20 is in the gathered state, the wrapping position of the cable 50 on the reel 20 is C2, the length of the wrapping part of the cable 50 on the reel 20 is L3 (i.e. the length of the cable from the fixed end 501 to the wrapping position C2), and the length of the extending part of the cable 50 is L4, wherein:
l3+ L4 ═ L (formula 2)
Where L is the total length of the cable 50.
When the pulley 20 moves from the separated state to the gathered state, the elongation Δ L of the cable 50 can be calculated by the following formula:
Δ L-L4-L6 (equation 3)
Where L6 is the length (in the extending direction of cable 50) from C2 to the position of extending end 502 of cable 50 when pulley 20 is in the separated state, and length L6 can be obtained by the following formula:
l6 ═ L2-L5 (formula 4)
L5 is the length of the spooling position C1 and the spooling position C2 in the extending direction of the cable 50, that is, the amount of change of the spooling position of the cable 50 when the pulley 20 moves from the separated state to the gathered state.
As can be seen from equations 1 to 4, the elongation of the cable 50:
Δ L ═ L4- (L2-L5) ═ L4-L2+ L5 ═ L1-L3) + L5 (formula 5)
Wherein, L1-L3 is the length variation of the cable 50 in the winding part, and L5 is the variation of the winding position of the cable 50.
As can be seen from equation 5, the elongation of the cable 50 is determined by the amount of change in the length of the cable 50 in the wire wrapping portion and the amount of change in the wire wrapping position of the cable 50. It should be noted that when the pulley 20 moves from the separated state to the gathered state, the length of the wire 50 wrapping portion decreases, and the length change amount is a positive value; the cable 50 moves from the winding position to the extending end 502, and the amount of change in the winding position is also positive, and accordingly, the elongation Δ L of the cable 50 is positive, that is, the cable 50 is elongated. On the contrary, when the reel 20 moves from the gathering state to the separating state, the length of the wire 50 wrapping part becomes large, and the length variation is a negative value; the cable 50 is moved toward the fixed end 501, and the amount of change of the winding position is negative, accordingly, the elongation Δ L of the cable 50 is negative, i.e., the cable 50 is shortened.
In some embodiments, at least two of the pulleys 20 may be distributed on a circumference when in the separated state and the gathered state. Referring to fig. 2, in some embodiments, when the cable 50 extends in the extending direction, the cable 50 may drive the pulley 20 to move from the corresponding position on the circumference in the separated state to the corresponding position on the circumference in the gathered state.
In some embodiments, the amount of change in the length of the portion of cable 50 that is routed is related to the diameter of the circumference on which drum 20 is located and the location of the center of the circle. Specifically, when the diameter of the circumference on which the pulley 20 is located becomes smaller, the amount of change in the length and the wrapping position of the wire 50 can be made to increase, and the wire 50 can be elongated. When the center of the circle of the reel 20 moves towards the extending end 502 of the cable 50, the length of the wire wrapping part of the cable 50 and the change amount of the wire wrapping position can be increased, and the cable 50 is extended.
In some embodiments, at least two of the pulleys 20 may be distributed in any pattern when in the separated state and the gathered state. For example, they may be distributed in a straight line. Also for example, the distribution may be a curve, which may be any curve including a circle.
FIG. 3A is a schematic view of a spool of a take-up device shown in accordance with some embodiments of the present application in a disengaged state; fig. 3B is a schematic view of a spool of a take-up device shown in accordance with some embodiments of the present application in a disengaged state.
In some embodiments, as shown in fig. 3A, the guide 301 may be a curvilinear guide. In some embodiments, the number of the pulleys 20 may be three, and correspondingly, the guide portion 301 may be three curved guide portions arranged in a divergent manner. The divergence direction of the divergence shape is as follows: diverging in a direction away from the extended end 502 of the cable 50 (see fig. 5). In some embodiments, when the pulleys 20 are in the separated state, the three pulleys 20 are respectively located at ends of the three guides 301 away from each other. In some embodiments, when the pulleys 20 are in the gathered state, three pulleys 20 are respectively located at one end where the three guide portions 301 are gathered together. In some embodiments, when the pulleys 20 are in the separated state, the center points of the three pulleys 20 may be located on a first circumference, and the cables 50 are distributed and wound on the pulleys 20 in a circumferential manner, and the diameter of the first circumference may be represented as D1. In some embodiments, referring further to fig. 3B, when reels 20 are in the bunched state, the center points of the three reels 20 may be located on a second circumference, which may be indicated as D2, where D2 < D1, and cable 50 is also circumferentially distributed around reels 20. In some embodiments, when the cable 50 is extended toward the extending end 502, the cable 50 can drive the pulley 20 to move from the corresponding position of the first circumference to the corresponding position of the second circumference. Since the diameter D2 of the second circumference is smaller than the diameter D1 of the first circumference, the amount of change in the length and the wrap position of the cable 50 is increasing during this movement, providing an extension to the cable 50.
In some embodiments, the position of the center of the second circle may be changed relative to the position of the center of the first circle. In some embodiments, the change may include a change in position along the direction of extension of the cable 50. The amount of positional change occurring in the extending direction of the cable 50 in the center position of the second circumference with respect to the center position of the first circumference may be represented as S, and the amount of positional change S may be such that the length of the wire-wrapped portion of the cable 50 and the amount of change in the wire-wrapped position are increasing, providing an elongation for the cable 50.
In the above embodiment, the elongation of the cable 50 with respect to the initial position thereof may be provided by the amount of change in the diameter of the second circumference with respect to the first circumference, and the amount of change in the position of the center of the second circumference with respect to the center of the first circumference in the extending direction of the cable 50, which is greater in the above embodiment than in the embodiment in which the pulley is movable only in a straight direction, in the same movement space.
In some embodiments, the cables 50 may not be located on the same circumference after being wound around the three reels 20 when the reels 20 are in the separated state or the gathered state. For example, the cable 50 may be routed around three reels in a zigzag manner, or in any other configuration.
It should be understood that, in the above embodiments, the number of the pulley 50 and the guide portion 301 is described as an example of the present application, and the technical solution of the present application is not limited. Those skilled in the art can set the number of the pulley 50 and the guide 301 to other values, for example, the number of the pulley 50 and the guide 301 may also be two or four or five or more, and these pulleys may all be located on the same circumference, or may be partially located on the same circumference, or may be distributed in any other form, which is not limited herein.
Fig. 4 is a schematic structural view of a take-up device according to other embodiments of the present application.
In some embodiments, referring further to fig. 4, the guide 301 may be a linear guide. In some embodiments, the linear guide is configured to diverge. The divergence direction of the divergence shape is as follows: diverging in a direction away from the extended end 502 of the cable 50 (see fig. 5). In some embodiments, when at least two pulleys 20 are in the separated state, at least two pulleys 20 are respectively located at ends of the guide portions 301 that are away from each other. In some embodiments, when at least two pulleys 20 are in the gathered state, at least two pulleys 20 are respectively located at one end where the three guides 301 are gathered together.
In some embodiments, the number of reels may be two, as may the number of corresponding guides 301. In some embodiments, since the cable 50 is wound on the pulley 20, after the pulley 20 moves from the corresponding position in the separated state to the corresponding position in the gathered state, the wound position of the cable 50 generates a certain displacement along the extending direction of the cable 50, so as to provide an elongation for the cable 50. In some embodiments, when the cable 50 moves the reels 20 from the separated state to the gathered state, the length of the wrapping portion of the cable 50 on the two reels 20 becomes smaller, and the amount of change in the length of the wrapping portion of the cable 50 on the two reels 20 can provide the elongation for the cable 50. In this embodiment, the elongation of the cable 50 with respect to its initial position may be provided by both the displacement of the wire-wrapping position of the cable 50 in the extending direction of the cable 50 and the amount of change in the length of the wire-wrapping portion of the cable 50 on the two reels 20, and the elongation of the cable 50 is greater in the same movement space as compared to an embodiment in which the reels are only movable in a straight direction.
In some embodiments, the number of the pulleys 20 may be three, and the number of the corresponding guide portions 301 may also be three. In some embodiments, after the linear guides are arranged in a divergent shape, their extensions may intersect at the same point. In some embodiments, the center points of the three pulleys 20 may be located on a third circumference when the pulleys 20 are in the separated state, and the center points of the three pulleys 20 may be located on a fourth circumference when the pulleys 20 are in the gathered state, wherein the diameter of the fourth circumference is smaller than the diameter of the third circumference. When the cable 50 carries the reels 20 to move from the separated state to the gathered state, the wrapping position of the cable 50 generates a certain displacement along the extending direction of the cable 50, and at the same time, the lengths of the wrapping portions of the cable 50 on the three reels 20 become smaller, so that the cable 50 is elongated relative to the initial position thereof.
In this embodiment, the elongation of the cable 50 with respect to its initial position may be provided by both the displacement of the wire wrapping position of the cable 50 in the moving direction of the cable 50 and the amount of change in the length of the wire wrapping portion of the cable 50 on the two reels 20.
In some embodiments, the number of the pulleys 20 may be three, and the number of the corresponding guide portions 301 may also be three. In some embodiments, the linear guides may be configured to diverge and may intersect at different points. At this time, when the cable 50 drives the pulley 20 to move from the separated state to the gathered state, the movement rules of the cable 50 and the pulley 20 are similar to those when the guide portion 301 is a curved guide portion, which may be specifically referred to the related description of fig. 3A and fig. 3B, and are not repeated here. Correspondingly, the elongation of the cable 50 relative to its initial position can also be seen in the description of fig. 2, 3A and 3B.
It should be understood that, in the above embodiments, the number of the pulley 50 and the guide portion 301 is described as an example of the present application, and the technical solution of the present application is not limited. Those skilled in the art can also set the number of the pulley 50 and the guide portion 301 to other values, for example, the number of the pulley 50 and the guide portion 301 may also be four or five or more, and will not be described herein again.
FIG. 5 is a schematic diagram of a medical device according to some embodiments of the present application.
As shown in fig. 5, the medical apparatus 200 includes: the wire takeup device 100, the mechanical arm 202 and the C-arm (not shown). Wherein the robot arm 202 is fixedly connected to the C-arm via a robot arm end 201.
In some embodiments, the wire takeup device 100 may be fixed to the mechanical arm 202 by the base plate 10. In some embodiments, the fixed end 501 of the cable 50 is fixed to the robotic arm 202, and the extended end 502 is connected to a C-arm (not shown) after being looped around the at least two reels 20. When the reels 20 are in the disconnected state, the spooling position of the cable 50 on the reels 20 is at position a of the robotic arm 202, where no movement of the C-arm occurs. When the end 201 of the mechanical arm drives the C-shaped arm to move, the cable 50 connected to the C-shaped arm moves therewith, and then drives the at least two reels 20 of the wire rewinding device 100 to move from the separated state to the gathered state. When the C-shaped arm moves to the maximum movement distance, the cable 50 drives the reel 20 to move to the gathering state, at this time, the cable 50 is wound on the reel 20 and then located at the position B of the mechanical arm 202, and the elongation of the cable 50 reaches the maximum. When the C-arm moves back from the maximum movement position, the pulling force of the cable 50 on the pulley 20 disappears, and at this time, the pulley 20 can move from the gathering state to the separating state under the restoring force of the resetting piece 401, and the excessive length part of the cable 50 is rewound on the pulley 20.
The beneficial effects that may be brought by the embodiments of the present application include, but are not limited to: (1) the wire wheel can move from a separating state to a gathering state, and the winding position of a cable on the wire wheel is changed, so that the cable extends; (2) the wire wheel can move from a separating state to a gathering state, the winding length of a cable on the wire wheel is changed, and the cable is extended; (3) the cable elongation of the embodiment of the application can be provided by the diameter change and the circle center position change of the circumference where the wire wheel is located; (4) the elongation of the cable is provided by a plurality of parameter changes together, and larger elongation can be realized in a smaller volume space. It is to be noted that different embodiments may produce different advantages, and in different embodiments, any one or combination of the above advantages may be produced, or any other advantages may be obtained.
Having thus described the basic concept, it will be apparent to those skilled in the art that the foregoing detailed disclosure is to be considered merely illustrative and not restrictive of the broad application. Various modifications, improvements and adaptations to the present application may occur to those skilled in the art, although not explicitly described herein. Such modifications, improvements and adaptations are proposed in the present application and thus fall within the spirit and scope of the exemplary embodiments of the present application.
Also, this application uses specific language to describe embodiments of the application. Reference throughout this specification to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with at least one embodiment of the present application is included in at least one embodiment of the present application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.
Claims (12)
1. A take-up device, comprising:
a base plate;
at least two wire wheels movably arranged on the bottom plate;
the guide structure is arranged on the bottom plate and used for guiding the movement of the at least two wire wheels;
the guide structure enables the at least two wire wheels to be gathered in the moving process.
2. The take-up device as claimed in claim 1, wherein the guide structure comprises at least two guides in one-to-one correspondence with the at least two reels.
3. A take-up device as claimed in claim 2, wherein the guide comprises a guide rail and/or a guide groove.
4. A take-up device as claimed in claim 2, wherein the guide portion comprises a curved guide portion and/or a linear guide portion.
5. A take-up device as claimed in claim 4, wherein, when the guides comprise linear guides, extensions of at least two of the guides intersect.
6. The take-up device as claimed in claim 1, wherein a return structure is further fixedly connected to the base plate, and is configured to provide a restoring force to the at least two reels from a gathered state to a separated state.
7. The take-up device as claimed in claim 6, wherein the reset structure comprises reset members in one-to-one correspondence with the at least two reels.
8. A take-up device as claimed in claim 7, wherein the return member comprises a constant force spring having one end fixed to the base plate and the other end fixed to the spool.
9. The take-up of claim 1, further comprising a cable that is routed over the at least two spools; the cable can move relative to the at least two wire wheels and drives the at least two wire wheels to move from a separated state to a gathered state.
10. A take-up device as claimed in claim 9, characterised in that the at least two wheels lie on a first circumference in the separated state and on a second circumference in the gathered state; the circle center position of the second circumference changes relative to the circle center position of the first circumference.
11. A medical device, comprising:
a mechanical arm;
a C-arm connected to the robotic arm; and
a take-up device as claimed in claims 1-10.
12. The medical apparatus of claim 11, wherein the take-up comprises a cable; one end of the cable is fixedly connected with the mechanical arm, and the other end of the cable is fixedly connected with the C-shaped arm.
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| CN202010800359.2A CN111776891B (en) | 2020-08-11 | 2020-08-11 | Wire take-up device |
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| CN202010800359.2A CN111776891B (en) | 2020-08-11 | 2020-08-11 | Wire take-up device |
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| CN111776891B CN111776891B (en) | 2023-01-13 |
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Cited By (1)
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| CN113883164A (en) * | 2021-09-27 | 2022-01-04 | 上海联影医疗科技股份有限公司 | Transmission mechanism, take-up device and medical equipment |
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| CN111776891B (en) | 2023-01-13 |
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Address after: 201807 Shanghai City, north of the city of Jiading District Road No. 2258 Applicant after: Shanghai Lianying Medical Technology Co.,Ltd. Address before: 201807 Shanghai City, north of the city of Jiading District Road No. 2258 Applicant before: SHANGHAI UNITED IMAGING HEALTHCARE Co.,Ltd. |
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