CN112460214A - Transmission mechanism with small-range self-adaptive take-up and pay-off ratio - Google Patents

Transmission mechanism with small-range self-adaptive take-up and pay-off ratio Download PDF

Info

Publication number
CN112460214A
CN112460214A CN202011391089.0A CN202011391089A CN112460214A CN 112460214 A CN112460214 A CN 112460214A CN 202011391089 A CN202011391089 A CN 202011391089A CN 112460214 A CN112460214 A CN 112460214A
Authority
CN
China
Prior art keywords
way bearing
shaft
transmission mechanism
pay
take
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011391089.0A
Other languages
Chinese (zh)
Other versions
CN112460214B (en
Inventor
吴洋春
于爱萍
尹华伟
徐文东
沈云东
邱彦群
蒋苏
冯俊涛
李铁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jing'an Central Hospital (jing'an Branch Huashan Sub-Hospital Of Fudan University)
Original Assignee
Shanghai Jing'an Central Hospital (jing'an Branch Huashan Sub-Hospital Of Fudan University)
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Jing'an Central Hospital (jing'an Branch Huashan Sub-Hospital Of Fudan University) filed Critical Shanghai Jing'an Central Hospital (jing'an Branch Huashan Sub-Hospital Of Fudan University)
Priority to CN202011391089.0A priority Critical patent/CN112460214B/en
Publication of CN112460214A publication Critical patent/CN112460214A/en
Application granted granted Critical
Publication of CN112460214B publication Critical patent/CN112460214B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • 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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Transmission Devices (AREA)

Abstract

The invention relates to the technical field of transmission systems in mechanical equipment, in particular to a transmission mechanism with a small-range self-adaptive take-up and pay-off line ratio.A driving shaft is detachably arranged on the side wall of a base and sleeved with a group of one-way bearings; the invention uses single power source, and through setting and installing the unidirectional bearing, when the cord moves around the unidirectional bearing, realize the self-adaptive control of the speed ratio between the take-up rope and the pay-off rope that the terminal requires, the invention is flexible control, has reduced the volume of the drive mechanism, it is easy to carry and dress.

Description

Transmission mechanism with small-range self-adaptive take-up and pay-off ratio
Technical Field
The invention relates to the technical field of transmission systems in mechanical equipment, in particular to a transmission mechanism with a small-range self-adaptive take-up and pay-off ratio.
Background
At present, the exoskeleton auxiliary instrument is used as a device for assisting actions of specific people, external force assistance is carried out on four limbs of a human body, the four limbs are mainly bent and stretched and are defined as movable terminals, and therefore the principle of the exoskeleton auxiliary instrument is that the movable terminals are controlled to move through a power source and a transmission mechanism.
For the two actions of bending and stretching, the prior art needs two groups of power sources and can finish the actions through two groups of transmission mechanisms, so that the transmission mechanisms are large in size and not easy to carry or wear. Moreover, different implementation modes or different wearers have different requirements on the bending and stretching speed ratio for the same terminal, and the existing transmission mechanism cannot realize the variable adjustment of the speed ratio.
Therefore, it is necessary to design a transmission mechanism capable of controlling the bending and stretching of the terminal by using a single power source and adjusting the bending and stretching speed ratio in a small range.
Disclosure of Invention
The invention breaks through the difficult problems in the prior art and designs the transmission mechanism which can utilize a single power source to control the bending and stretching of the terminal and has the self-adaptive requirement of the bending and stretching speed ratio.
In order to achieve the purpose, the invention designs a transmission mechanism with a small-range self-adaptive take-up and pay-off ratio, which is characterized in that: the transmission mechanism includes:
the driving shaft is used for providing power required by the transmission mechanism;
the driving shaft is detachably arranged on the side wall of the base, and a one-way bearing is sleeved on the driving shaft;
the driven shaft is detachably arranged on the side wall of the base and is also sleeved with a one-way bearing, and the driven shaft is connected with the driving shaft by a gear pair and rotates along with the driving shaft;
the steering shafts are respectively detachably arranged on the bottom plate of the base and used for changing the direction of the thread rope;
the cord is used for controlling the terminal to move;
the cord is wound on the one-way bearing of the driving shaft, the one-way bearing of the driven shaft and the steering shaft and then passes through the cord hole in the side wall to be connected with the terminal of the external device.
Furthermore, the number of the one-way bearings on the driving shaft, the number of the one-way bearings on the driven shaft, the number of the steering shafts and the number of the ropes are the same and are at least 2.
Furthermore, the one-way bearing on the driving shaft is divided into a first one-way bearing and a second one-way bearing;
the one-way bearing on the driven shaft is divided into a third one-way bearing and a fourth one-way bearing;
the steering shaft is divided into a first steering shaft and a second steering shaft;
the cord is divided into a first cord and a second cord.
Furthermore, the first rope is wound on a first one-way bearing of the driving shaft, a third one-way bearing of the driven shaft and the first steering shaft, and then passes through a first wire hole in the side wall of the base to be connected with an external terminal;
and the second line rope is wound on a second one-way bearing of the driving shaft, a fourth one-way bearing of the driven shaft and a second steering shaft and then passes through a second line hole in the side wall of the base to be connected with a terminal of the peripheral.
Furthermore, the gear pair comprises a driving gear and a driven gear, the driving gear is sleeved on the driving shaft, and the driven gear is sleeved on the driven shaft.
Furthermore, one end of the driving shaft penetrates through the side wall of one side of the base and is connected with a power source arranged outside.
Further, the rotation directions of the first one-way bearing and the third one-way bearing are the same;
the second one-way bearing and the fourth one-way bearing rotate in the same direction.
Furthermore, the rotating directions of the first one-way bearing and the third one-way bearing are opposite to the rotating directions of the second one-way bearing and the fourth one-way bearing.
Further, the first steering shaft and the second steering shaft rotate in opposite directions;
the rotating direction of the first steering shaft is the same as that of the first one-way bearing and the third one-way bearing;
and the rotating direction of the second steering shaft is the same as that of the second one-way bearing and the fourth one-way bearing.
Furthermore, the invention also comprises pressing shafts which are positioned at the upper side and the lower side of the driven shaft, so that the thread rope leans against the one-way bearing on the driven shaft, and the outgoing line is reliable.
Compared with the prior art, the invention only uses one power source, and the unidirectional bearing is arranged and installed, when the rope moves around the unidirectional bearing, the self-adaptive control of the speed ratio between the take-up rope and the pay-off rope required by the terminal is realized, the unidirectional bearing is arranged on the driven shaft, and when the rope moves around the unidirectional bearing, the time-sharing independent control of two actions of the power source on the terminal is realized; the gear pair is used for realizing the primary control of the wire winding and unwinding, and the final confirmation of the wire unwinding speed can be carried out by utilizing the speed ratio between the wire winding and unwinding.
Drawings
FIG. 1 is a top view of a small range of adaptive take-up and pay-off line ratio actuators in a terminal bend state in one embodiment.
FIG. 2 is a front view of a small range of adaptive take-up and pay-off line ratio actuators in a terminal bend state in one embodiment.
FIG. 3 is a top view of a small-scale adaptive take-up and pay-off line ratio transmission mechanism in a terminal-extended state, according to one embodiment.
FIG. 4 is a front view of a small range adaptive pay-off and take-up line ratio drive mechanism in a terminal extended state, according to one embodiment.
Wherein, 1 is the driving shaft, 2 is the base, 3 is the driven shaft, 4 is first one-way bearing, 5 is the one-way bearing of second, 6 is the one-way bearing of third, 7 is the one-way bearing of fourth, 8 is first steering spindle, 9 is the second steering spindle, 10 is first line rope, 11 is the second line rope, 12 is the driving gear, 13 is driven gear, 14 is the axle that presses.
Detailed Description
The invention is further described with reference to the accompanying drawings, but is not to be construed as being limited thereto.
It is to be noted that the drawings are in simplified form and are not to precise scale, which is provided for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
Referring to the attached drawings, in the specific implementation, preferably, 4 one-way bearings are adopted, one group is formed in two, and are respectively installed on the driving shaft 1 and the driven shaft 3, and the one-way bearings on the driving shaft 1 are divided into a first one-way bearing 4 and a second one-way bearing 5; the one-way bearing on the driven shaft 3 is divided into a third one-way bearing 6 and a fourth one-way bearing 7.
Preferably, 2 steering shafts are used, respectively designated as first steering shaft 8 and second steering shaft 9.
Preferably, two sets of cords, respectively designated as first cord 10 and second cord 11, are also used.
Preferably, 2 groups of pressing shafts 14 are also adopted and are respectively positioned at the upper side and the lower side of the driven shaft 3, so that the wire ropes are close to one-way bearings on the driven shaft 3, and the wire outlet is reliable.
When the device is installed, the driving shaft 1 is detachably installed on the side wall of the base 2, one end of the driving shaft penetrates through the side wall of one side of the base 2 to be connected with an external power source, and the other end of the driving shaft is sleeved with a driving gear 12 of a gear pair.
The driven shaft 3 is also detachably mounted on the side wall of the base 2 and located beside the driving shaft 1, a driven gear 13 of a gear pair is mounted on the driven shaft 3, and the driven gear 13 is meshed with the driving gear 12, so that the driven shaft 3 is driven to rotate along with the driving shaft 1.
Preferably, the steering shafts are detachably mounted on the bottom plate of the base 2, i.e. the bottom ends of the steering shafts are fixed to the bottom plate of the base.
The cord is used for controlling the terminal to move;
preferably, the first rope 10 is wound on the first one-way bearing 4 of the driving shaft 1, the third one-way bearing 6 of the driven shaft 3 and the first steering shaft 8, and then passes through the first wire hole on the side wall of the base 2 to be connected with a terminal of the external device;
preferably, the second cord 11 is wound around the second one-way bearing 5 of the driving shaft 1, the fourth one-way bearing 7 of the driven shaft 3 and the second steering shaft 9, and then passes through the second cord hole on the side wall of the base 2 to be connected with the terminal of the external device.
The driving shafts of the two strands of bent and stretched ropes of the control terminal are controlled by a single motor, the clutch effect of the one-way bearing is utilized to realize time-sharing independent control of the revolving and winding-up of the two strands of ropes, and when one strand of rope acts, the revolving and winding-up of the other strand of rope is not influenced; the single motor can simultaneously drive the driving shaft 1 and the driven shaft 3 to rotate by utilizing the matching of a gear pair; preferably, the invention can also utilize the friction force generated by the flexible hinge on the feeding shaft to drive the revolving line of the winding shaft.
In specific implementation, the direction of the wire rope is changed by using a steering shaft according to the direction requirement of the terminal on the wire rope; according to the requirement of the terminal on the ratio of the winding and unwinding rates of the two ropes (the requirement of each wearing person is different in each design scheme), the power source drives the driving shaft 1 to rotate actively, the driven shaft 3 moves along with the driving shaft, the ropes are driven to perform winding and unwinding motions, and the rate is controlled by the terminal but not higher than a certain value.
The winding and unwinding of the cord sets corresponding to the two different actions (bending and stretching) of the terminal are completely opposite, and the rate ratio is kept consistent.
After the transmission mechanism with the small-range self-adaptive take-up and pay-off line ratio is assembled according to the description, the implementation can be carried out.
Example 1:
referring to fig. 1 and 2, there is shown an embodiment of a small range adaptive take-up and pay-off line ratio transmission in a terminal curved condition.
The bending of the termination requires the first cord 10 to be fed around the axle shaft 1 at a rate set at A1, and the second cord 11 to be subsequently fed around the axle shaft 1 at a rate A2 (A2. ltoreq. A1).
The method specifically comprises the following steps: the motor rotates to ensure that the first cord 10 is fed at the speed of A1, and the winding and unwinding speed of the second cord 11 are not influenced due to the existence of the first one-way bearing 4 and the second one-way bearing 5 on the driving shaft 1; the motor rotates, and the driven shaft 3 rotates reversely at a fixed speed relative to the driving shaft 1 through the transmission of a gear pair between the driving shaft 1 and the driven shaft 3; due to the existence of the third one-way bearing 6 and the fourth one-way bearing 7 on the driven shaft 3, the incoming line of the first rope 10 is not influenced by the rotation of the driven shaft 3; via the first steering shaft 8 the first cord 10 is led out of the transmission to the terminal end, which is controlled to bend at a fixed rate.
The bending of the terminal drives the second rope 11 to be led out at the speed A2, the driven shaft 3 and the driving shaft 1 are forced to be led out at the speed A2 through the second steering shaft 9, and the pressing shaft 14 ensures the reliability of the led-out.
Example 2:
referring to fig. 3 and 4, an embodiment of a small range adaptive take-up and pay-off line ratio transmission mechanism is shown in a terminal extended state.
Terminal expansion requires the second cord 11 to be fed around the axle shaft 1 at a rate of B1, followed by the first cord 10 being fed around the axle shaft 1 at a rate of B2 (B1 ≧ B2).
The method specifically comprises the following steps: the motor rotates to ensure that the second wire rope 11 is fed at a speed B1, and due to the existence of the one-way bearing on the driving shaft 1, the winding and unwinding speed of the first wire rope 10 is not influenced; the driven shaft 3 rotates reversely relative to the driving shaft 1 at a fixed speed; due to the existence of the one-way bearing on the driven shaft 3, the incoming line of the second rope 11 is not influenced by the rotation of the driven shaft; through the second steering shaft 9, the second rope 11 exits the transmission mechanism and is connected with the terminal, and the terminal is controlled to stretch at a fixed speed.
The stretching of the terminal drives the first rope 10 to be led out at the speed B2, the driven shaft 3 and the driving shaft 1 are forced to be led out at the speed B2 through the first steering shaft 8, and the pressing shaft 14 ensures the reliability of the led-out.
In conclusion, the invention only uses one power source, and the unidirectional bearing is arranged and installed, so that when the rope moves around the unidirectional bearing, the self-adaptive control of the speed ratio between the take-up rope and the pay-off rope required by the terminal is realized.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims (10)

1. The transmission mechanism of the small-range self-adaptive take-up and pay-off ratio is characterized in that: the transmission mechanism includes:
the driving shaft (1) is used for providing power required by the transmission mechanism;
the driving shaft (1) is detachably arranged on the side wall of the base (2), and a one-way bearing is sleeved on the driving shaft;
the driven shaft (3) is detachably arranged on the side wall of the base (2), a one-way bearing is sleeved on the driven shaft, and the driven shaft (3) is connected with the driving shaft (1) through a gear pair and rotates along with the driving shaft (1);
the steering shafts are respectively and detachably arranged on the bottom plate of the base (2) and used for changing the direction of the thread rope;
the cord is used for controlling the terminal to move;
the wire rope is wound on the one-way bearing of the driving shaft (1), the one-way bearing of the driven shaft (3) and the steering shaft and then penetrates through a wire hole in the side wall of the base (2) to be connected with an external terminal.
2. The small-scale adaptive pay-off and take-up line ratio transmission mechanism of claim 1, wherein: the number of the one-way bearings on the driving shaft (1), the number of the one-way bearings on the driven shaft (3), the number of the steering shafts and the number of the ropes are the same and are at least 2.
3. The small-scale adaptive pay-off and take-up line ratio transmission mechanism of claim 2, wherein: the one-way bearing on the driving shaft (1) is divided into a first one-way bearing (4) and a second one-way bearing (5);
the one-way bearing on the driven shaft (3) is divided into a third one-way bearing (6) and a fourth one-way bearing (7);
the steering shaft is divided into a first steering shaft (8) and a second steering shaft (9);
the cord is divided into a first cord (10) and a second cord (11).
4. The small-scale adaptive pay-off and take-up line ratio transmission mechanism of claim 3, wherein: the first rope (10) is wound on the first one-way bearing (4) of the driving shaft (1), the third one-way bearing (6) of the driven shaft (3) and the first steering shaft (8), and then penetrates through a first wire hole in the side wall of the base (2) to be connected with a terminal of an external device;
and the second rope (11) is wound on the second one-way bearing (5) of the driving shaft (1), the fourth one-way bearing (7) of the driven shaft (3) and the second steering shaft (9) and then passes through the second wire hole in the side wall of the base (2) to be connected with a terminal of the peripheral.
5. The small-scale adaptive pay-off and take-up line ratio transmission mechanism of claim 1, wherein: the gear pair comprises a driving gear (12) and a driven gear (13), the driving gear (12) is sleeved on the driving shaft (1), and the driven gear (13) is sleeved on the driven shaft (3).
6. The small-scale adaptive pay-off and take-up line ratio transmission mechanism of claim 1, wherein: one end of the driving shaft (1) penetrates through the side wall of one side of the base (2) and is connected with a power source arranged outside.
7. The transmission mechanism for a narrow range adaptive take-up and pay-off line ratio as claimed in claim 3 or 4, wherein: the rotating directions of the first one-way bearing (4) and the third one-way bearing (6) are the same;
the rotation directions of the second one-way bearing (5) and the fourth one-way bearing (7) are the same.
8. The transmission mechanism for a narrow range adaptive take-up and pay-off line ratio as claimed in claim 3 or 4, wherein: the rotating directions of the first one-way bearing (4) and the third one-way bearing (6) are opposite to the rotating directions of the second one-way bearing (5) and the fourth one-way bearing (7).
9. The transmission mechanism for a narrow range adaptive take-up and pay-off line ratio as claimed in claim 3 or 4, wherein: the first steering shaft (8) and the second steering shaft (9) rotate in opposite directions;
the rotating direction of the first steering shaft (8) is the same as that of the first one-way bearing (4) and the third one-way bearing (6);
the rotating direction of the second steering shaft (9) is the same as that of the second one-way bearing (5) and the fourth one-way bearing (7).
10. The small-scale adaptive pay-off and take-up line ratio transmission mechanism of claim 1, wherein: the wire rope drawing machine further comprises a pressing shaft (14), wherein the pressing shaft (14) is located on the upper side and the lower side of the driven shaft (3), so that the wire rope is close to a one-way bearing on the driven shaft (3), and the wire outlet is reliable.
CN202011391089.0A 2020-12-02 2020-12-02 Transmission mechanism with small-range self-adaptive coiling and uncoiling ratio Active CN112460214B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011391089.0A CN112460214B (en) 2020-12-02 2020-12-02 Transmission mechanism with small-range self-adaptive coiling and uncoiling ratio

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011391089.0A CN112460214B (en) 2020-12-02 2020-12-02 Transmission mechanism with small-range self-adaptive coiling and uncoiling ratio

Publications (2)

Publication Number Publication Date
CN112460214A true CN112460214A (en) 2021-03-09
CN112460214B CN112460214B (en) 2024-01-19

Family

ID=74806423

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011391089.0A Active CN112460214B (en) 2020-12-02 2020-12-02 Transmission mechanism with small-range self-adaptive coiling and uncoiling ratio

Country Status (1)

Country Link
CN (1) CN112460214B (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030098216A1 (en) * 2001-11-29 2003-05-29 Hirohito Hayashi One-way clutch assembly and one-way power transmission clutch unit with the same
CN102518768A (en) * 2011-12-29 2012-06-27 长安大学 Reversibly rotating speed-changing anisotropic output three-shaft operating device
WO2017000278A1 (en) * 2015-07-01 2017-01-05 深圳怡化电脑股份有限公司 Bank note accepting and dispensing drive control mechanism and automatic teller machine
CN106826761A (en) * 2017-01-22 2017-06-13 哈尔滨工业大学 A kind of lower limb assistance exoskeleton robot based on steel wire drive gear ratio joint
CN207098466U (en) * 2017-08-11 2018-03-13 深圳广田机器人有限公司 Threading mechanism
KR20200058257A (en) * 2018-11-19 2020-05-27 엄재풍 A Emergency Escape System In High-Rise Buildings
CN210655707U (en) * 2019-10-12 2020-06-02 青岛智翱翔机器人科技有限公司 ROV neutral cable synchronous winding and unwinding devices
CN213839446U (en) * 2020-12-02 2021-07-30 上海市静安区中心医院(复旦大学附属华山医院静安分院) Transmission mechanism capable of self-adapting take-up and pay-off ratio

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030098216A1 (en) * 2001-11-29 2003-05-29 Hirohito Hayashi One-way clutch assembly and one-way power transmission clutch unit with the same
CN102518768A (en) * 2011-12-29 2012-06-27 长安大学 Reversibly rotating speed-changing anisotropic output three-shaft operating device
WO2017000278A1 (en) * 2015-07-01 2017-01-05 深圳怡化电脑股份有限公司 Bank note accepting and dispensing drive control mechanism and automatic teller machine
CN106826761A (en) * 2017-01-22 2017-06-13 哈尔滨工业大学 A kind of lower limb assistance exoskeleton robot based on steel wire drive gear ratio joint
CN207098466U (en) * 2017-08-11 2018-03-13 深圳广田机器人有限公司 Threading mechanism
KR20200058257A (en) * 2018-11-19 2020-05-27 엄재풍 A Emergency Escape System In High-Rise Buildings
CN210655707U (en) * 2019-10-12 2020-06-02 青岛智翱翔机器人科技有限公司 ROV neutral cable synchronous winding and unwinding devices
CN213839446U (en) * 2020-12-02 2021-07-30 上海市静安区中心医院(复旦大学附属华山医院静安分院) Transmission mechanism capable of self-adapting take-up and pay-off ratio

Also Published As

Publication number Publication date
CN112460214B (en) 2024-01-19

Similar Documents

Publication Publication Date Title
US3934395A (en) Cable stranding apparatus
CN206711676U (en) A kind of take-up of strand winder
CN213839446U (en) Transmission mechanism capable of self-adapting take-up and pay-off ratio
CN112460214A (en) Transmission mechanism with small-range self-adaptive take-up and pay-off ratio
CN112386858A (en) Comprehensive body-building device capable of stepless regulating resistance
JP4125901B2 (en) Wire feeding device
KR100767721B1 (en) Robot hand
US1900310A (en) Twister or strander
CN208261541U (en) A kind of auxiliary wire-drawing frame of solder wire drawing machine
CN112451314B (en) Action auxiliary device based on brain plasticity and control method thereof
US5906325A (en) Self-synchronizing pulley/winch apparatus and operating method for cable having electronic or other protruding elements spaced along its length
WO2017033885A1 (en) Motor-driven hand
JPH10244339A (en) Strand manufacturing device
JP5846519B1 (en) An endless winch and a rope moving method using the endless winch.
CN210073465U (en) Steel band armoring machine is used in production of rubber cover flexible cable
CN116638545B (en) Compact flexible wrist joint of robot with two degrees of freedom
CN110180975A (en) A kind of spring coiling molding equipment
JP3396759B2 (en) Twice twisting machine
JP3839365B2 (en) Armature manufacturing method
CN210176170U (en) A pay-off for steel wire plastic-coated production line
CN218875500U (en) Variable-rigidity torsion rope driving device for flexible lower limb exoskeleton
CN216634449U (en) Manipulator winding device
CN113896036A (en) Stranding and winding equipment
CN204808801U (en) Two -sided show lamp house
JP2009197992A (en) Noninterfering driving mechanism of joint and wire passing through joint

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant