CN113911856A - Force control wire outlet device and method based on cable real-time following - Google Patents
Force control wire outlet device and method based on cable real-time following Download PDFInfo
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- CN113911856A CN113911856A CN202111208020.4A CN202111208020A CN113911856A CN 113911856 A CN113911856 A CN 113911856A CN 202111208020 A CN202111208020 A CN 202111208020A CN 113911856 A CN113911856 A CN 113911856A
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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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
- B65H51/00—Forwarding filamentary material
- B65H51/02—Rotary devices, e.g. with helical forwarding surfaces
- B65H51/04—Rollers, pulleys, capstans, or intermeshing rotary elements
- B65H51/08—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements
- B65H51/10—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements with opposed coacting surfaces, e.g. providing nips
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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
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
- B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
- B65H59/388—Regulating forwarding speed
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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
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
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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
- B65H2701/34—Handled filamentary material electric cords or electric power cables
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- Biomedical Technology (AREA)
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- Optics & Photonics (AREA)
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- Radiology & Medical Imaging (AREA)
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- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
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- Gastroenterology & Hepatology (AREA)
- Electric Cable Arrangement Between Relatively Moving Parts (AREA)
- Tension Adjustment In Filamentary Materials (AREA)
Abstract
The invention discloses a force-controlled wire outgoing device and a wire outgoing method based on cable real-time following, wherein the force-controlled wire outgoing device comprises a wire winding mechanism, a wire outgoing mounting plate and a wire outgoing mechanism arranged on the wire outgoing mounting plate; the wire outlet mechanism comprises a wire outlet motor, a controller, a six-dimensional force sensor, a friction wire outlet wheel set consisting of a friction wheel and a pressing roller and a winding wheel set consisting of two rollers, wherein one roller is arranged on the six-dimensional force sensor; the cable from the wire outlet mechanism is connected to the robot after bypassing the friction wire outlet wheel set and the winding wheel set; when the six-dimensional force sensor senses that the pressure applied by the cable is overlarge, the wire outlet motor starts to work, the friction wire outlet wheel set applies friction force to the cable, and the wire outlet function is completed. The force control wire outlet device not only can be adapted to cables with different diameters, but also can conveniently disassemble and assemble the cables at any time; the robot can greatly reduce the influence of the resistance of the cable on the operation of the robot through the force control wire outlet device.
Description
Technical Field
The invention belongs to the field of active wire outgoing devices, relates to a force control wire outgoing technology, and particularly relates to a force control wire outgoing device and a wire outgoing method based on cable real-time following.
Background
The related technology of the robot is rapidly developing, the application range of the robot is continuously expanding, the application degree is continuously deepened, and the function of the robot in each field in the actual life is increasingly remarkable. In the medical field, medical institutions are gradually considering operations such as image acquisition and drug delivery using a magnetically controlled capsule robot instead of human beings, scientists are working on developing detection and treatment techniques for minor injuries, and nowadays, endoscope capsule robots in daily life can already realize the detection function of a common gastroenteroscope. In both the robots in daily life and the robots in the medical field, cables are required to be carried at the tail parts of the robots, and the robots are connected with a power supply or other equipment, so that different types of requirements such as power supply, image data transmission, motion traction and the like are met. The necessary cables often limit the movement of the robot, bring resistance to the movement of the robot, bring errors to the operation precision, lead to errors in the movement track of the robot if the movement track of the robot is wrong, and possibly cause damage to the body of a patient if the movement track of the robot is damaged if the movement track of the robot is wrong, and different working requirements of different robots and the tolerance degree of the bodies of different patients to the cables may have different requirements on the thickness of the cables participating in the working, so that it is necessary to develop a force-controlled active wire outlet device which is adaptive to the cables with different thicknesses.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention is directed to a force control wire device adapted to cables of different diameters, which can support the force control wire of the lead wire of an endoscopic capsule robot, can realize the functions of fixed-point drug delivery and sampling at a target position in cooperation with the capsule robot, and can complete further tasks of diagnosis and fixed-point treatment.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides a force control device of being qualified for next round of competitions based on cable is followed in real time which characterized in that includes:
a reeling mechanism for reeling the storage cable;
the wire outlet mechanism is used for paying off the cable of the wire winding mechanism according to the control force; and
the wire outlet mounting plate is used for mounting the wire outlet mechanism;
the wire outgoing mechanism comprises a friction wire outgoing wheel set, a controller, a winding wheel set and a wire outgoing motor for driving the friction wire outgoing wheel set, wherein the friction wire outgoing wheel set is used for providing wire outgoing friction force for a cable to be paid out, at least one of the winding wheel set is installed on a multi-dimensional force sensor, the cable is wound between the friction wire outgoing wheel set and between the winding wheel sets, the controller is used for receiving signals of the multi-dimensional force sensor, judging the monitored force direction and the monitored tightness of a wire outgoing end of the cable according to the multi-dimensional force sensor, and adjusting the wire outgoing speed of the friction wire outgoing wheel set through controlling the wire outgoing motor according to the tightness.
Furthermore, the friction outgoing line wheel set comprises a friction wheel and a compression roller which are installed on the outgoing line installation plate, the friction wheel is a V-shaped wheel with a V-shaped groove in the surface, the compression roller is a conical roller matched with the V-shaped groove, and the outgoing line motor is connected with the friction wheel in a power transmission mode.
Furthermore, the compression roller is installed on the wire outlet installation plate through the translation mechanism, and the distance between the compression roller and the friction wheel is adjusted through the translation mechanism so as to adapt to cables with different diameters.
Furthermore, the friction wheel is installed on the wire outlet installation plate through a friction wheel shaft, the friction wheel shaft is installed on the wire outlet installation plate through a bearing, the friction wheel is fixed to the top of the friction wheel shaft above the wire outlet installation plate, and the lower end of the friction wheel shaft is connected with a wire outlet motor through a transmission gear.
Furthermore, the winding wheel set comprises a first roller and a second roller, wherein the first roller and the second roller are arranged in parallel to each other on the wheel shafts, one roller is directly arranged on the wire outlet mounting plate, the other roller is arranged on the multi-dimensional force sensor, and the multi-dimensional force sensor is arranged on the wire outlet mounting plate.
Furthermore, the winding wheel set is arranged at the position of the outlet downstream of the friction outlet wheel set, the first roller is arranged on the multi-dimensional force sensor, the first roller is arranged at the position corresponding to the compression roller, and the second roller is arranged at the position corresponding to the friction wheel.
Further, the cable winding method is as follows: the cable penetrates between the friction wheel and the compression roller, then penetrates between the compression roller and the first roller, then winds back between the first roller and the second roller, and finally penetrates between the friction wheel and the second roller.
Further, the first roller and the second roller are both V-shaped wheels.
Further, the winding mechanism comprises a winding roll and a winding motor for driving the winding roll to rotate for winding, and a U-shaped groove convenient for observing cable allowance is formed in the winding roll.
Further, bearings are arranged inside the friction wheel, the compression roller and the roller to ensure normal rotation of the friction wheel, the compression roller and the roller, the friction wheel, the compression roller and the roller are all assembled on respective shafts and limited in a mode including but not limited to the limiting rings, and the friction wheel shaft, the compression roller shaft and the roller shaft are parallel to each other and are installed on the wire outlet installation plate.
Furthermore, the number of the transmission gears is two, and the two transmission gears are respectively a driven gear and a driving gear, wherein the driving gear is matched with a shaft of the wire outlet motor, the driven gear is matched with the friction wheel shaft, and the driven gear is meshed with the driving gear. When the outgoing line motor works, the driving gear drives the driven gear to rotate, the driven gear drives the friction wheel and the friction wheel shaft to rotate, and the deep groove ball bearing is assembled between the friction wheel shaft and the outgoing line mounting plate to ensure the rotation of the friction wheel shaft.
The invention also provides a wire outgoing method based on cable real-time following, which adopts any one of the force control wire outgoing devices and is characterized by comprising the following steps:
the cable is wound on the wire winding mechanism, then the cable is led out and sequentially wound between the friction wire outlet wheel set and the wire winding wheel set, and then the cable is connected with the using equipment of the cable;
starting the wire outlet mechanism and the using equipment to start to use;
when the multi-dimensional force sensor monitors the pulling force of the cable, the outgoing line motor is started through the controller to carry out following paying-off;
and the direction speed of the wire outlet mechanism is increased or decreased according to the change of the pulling force monitored by the multi-dimensional force sensor, so that the wire outlet speed of the wire outlet mechanism and the movement of the used equipment are kept following in real time.
Furthermore, the winding mechanism is connected with the winding motor, after the robot finishes working, the cable needs to be retracted, and the winding motor works to drive the winding mechanism to rotate to finish winding up.
Furthermore, the bottom of the outgoing line mounting plate is provided with a mounting box for protecting the outgoing line motor and the coiling motor, the upper part of the outgoing line mounting plate is provided with an upper cover shell for protecting outgoing line laser, the left end of the upper cover shell is provided with a wire inlet convenient for leading in a cable, and the right end of the upper cover shell is provided with a wire outlet convenient for leading out the cable; the installation box, the upper cover shell and the outgoing line installation plate are mutually interacted in a mode including but not limited to an inverted buckle and a clasp and are firmly combined.
Furthermore, the various components are fixed and limited on the outgoing line mounting plate through inner hexagon bolts.
Further, the various types of rollers or friction wheels and their corresponding shafts may be engaged with each other by means including, but not limited to, keys.
Further, the frame of the force control wire device is made of a material including, but not limited to, light alloy or plastic, etc. to ensure that the force control wire device is easy to move.
The invention has the beneficial effects that:
1. the circuit is simple, the occupied space is small, the structure is more compact, and the system stability of the device is strong;
2. the invention has simple structure, high power transmission efficiency of the mechanism, no introduction of a complex mechanical structure and higher success rate of action operation.
3. According to different work demands, the cable fixing device is suitable for cables with different diameters and easy to disassemble and assemble.
4. The requirement of the wire take-up function can be additionally met while the wire outlet function is met.
Drawings
Fig. 1 is a schematic view of the external structure of the force control wire device of the present invention.
FIG. 2 is a schematic view of the internal structure of the present invention (with the mounting case and the upper cover case removed)
Fig. 3 is a top surface feature layout of the present invention.
FIG. 4 is a bottom surface detail layout of the present invention.
Fig. 5 is a schematic diagram of the movement of the rolls of the present invention.
Fig. 6 is a cross-sectional view of an outlet mechanism of the present invention.
The wire winding machine comprises a wire winding motor 1, a wire winding motor 2, a wire winding mounting plate 3, a sliding chute 4, a driven gear 5, a driving gear 6, a friction wheel shaft 7, a friction wheel 8, a compression roller 9, a compression roller shaft 10, a limiting ring 11, a wire outlet 12, a first roller 13, a second roller 14, a roller shaft 15, a six-dimensional force sensor 16, a deep groove ball bearing 17, a wire winding disc 19, a wire winding motor 20, an inner hexagon bolt 23, a mounting box 24, an upper cover shell 25, a wire winding cover plate 26, a U-shaped groove and a cable 27.
Detailed Description
The present invention will be described in detail with reference to the drawings and examples, which are provided for illustration and not limitation of the present invention.
As shown in fig. 1-6, a force-controlled wire outlet device based on cable real-time following comprises a wire coiling mechanism, a wire outlet mounting plate 2 and a wire outlet mechanism mounted on the wire outlet mounting plate 2; the coiling mechanism is used for coiling the storage cable 27; the wire outgoing mechanism is used for paying off the cable 27 of the wire winding mechanism according to the control force; the wire outlet mechanism comprises a wire outlet motor 1, a six-dimensional force sensor 15, a transmission gear, a friction wheel 7, a friction wheel shaft 6, a press roller 8, a press roller shaft, two rollers, a controller and a roller shaft 14; when the six-dimensional force sensor 15 senses that the pressure that cable 27 was applyed is too big, through controller control the motor 1 that is qualified for the next round of competitions begins work, friction pulley 7 with compression roller 8 mutually supports, forms the friction wheelset of being qualified for the next round of competitions, the motor 1 that is qualified for the next round of competitions links to each other with friction pulley 7 through drive gear, and drive friction pulley 7 rotates, applys frictional force for cable 27, accomplishes the function of being qualified for the next round of competitions, can reduce the influence of cable 27 resistance to the robot operation by a very big degree.
As shown in fig. 2-3, the friction wheel 7, the pressure roller 8 and the roller are all provided with bearings inside to ensure normal rotation thereof, and are all assembled on respective shafts for limiting in a manner including but not limited to the limiting ring 10, and the friction wheel shaft 6, the pressure roller shaft and the roller shaft 14 are installed on the outgoing line installation plate 2 in parallel; the rollers are divided into two rollers, namely a first roller 12 and a second roller 13, and the two rollers are driven to rotate under the action of friction force exerted by the cable 27.
As shown in fig. 2 and 3, the first roller 12 is mounted on the six-dimensional force sensor 15, the six-dimensional force sensor 15 senses the pressure applied to the axis by the cable 27, if the moving speed of the external robot is increased, the force applied to the cable 27 is increased, the six-dimensional force sensor 15 generates a feedback signal to the outgoing line motor 1 through the controller, so that the outgoing line motor 1 starts to work, and the friction wheel shaft 6 starts to rotate through a gear transmission manner including but not limited to;
as shown in fig. 1-4, there are two transmission gears, which are a driven gear 4 and a driving gear 5, respectively, wherein the driving gear 5 is connected with a shaft of the outgoing line motor 1 in a key fit manner, the driven gear 4 is connected with the friction wheel shaft 6 in a key fit manner, and the driven gear 4 is meshed with the driving gear 5. When the outgoing line motor 1 works, the driving gear 5 drives the driven gear 4 to rotate, the driven gear 4 drives the friction wheel 7 and the friction wheel shaft 6 to rotate, and the deep groove ball bearing 16 is assembled between the friction wheel shaft 6 and the outgoing line mounting plate 2 to ensure that the friction wheel shaft 6 can rotate freely.
As shown in fig. 2, 3, 5 and 6, the friction wheel 7 and the compression roller 8 both have tapers and can be adapted to cables 27 with different diameters, specifically, the friction wheel 7 is a V-shaped wheel with a V-shaped groove on the surface, and the compression roller 8 is a tapered roller matched with the V-shaped groove; the compression roller axle with the mounting panel 2 of being qualified for the next round of competitions carries out displacement, spacing through the cooperation of 3 sliders of spout, specifically can set up spout 3 on the mounting panel 2 of being qualified for the next round of competitions, screw up behind spout 3 from the bottom with single-end bolt (not drawn in the figure) at the compression roller axle head portion to fixed compression roller axle with the relative position of mounting panel 2 of being qualified for the next round of competitions adjusts compression roller 8 with the wheel 7 is apart from between the axle distance to this comes the cable 27 of different diameters of adaptation, compression roller 8 with wheel 7 can press from both sides the cable 27 of different diameters tightly, can exert frictional force for cable 27 when guaranteeing to rotate, in order to accomplish the work of being qualified for the next round of competitions, and compression roller 8 itself passes through the bearing and installs at the compression roller axle top, can guarantee like this that compression roller 8 can freely rotate.
As shown in fig. 1-3, the winding mechanism includes a winding roll 17 and a winding motor 19 for driving the winding roll 17 to rotate for winding, and the winding roll 17 is provided with a U-shaped groove 26 for observing the remaining amount of the cable 27. As a more preferable embodiment, the lower portion of the winding roll 17 is a fixing plate, the upper portion of the winding roll is provided with a detachable winding cover plate 25, the winding cover plate 25 is installed on the winding roll 17 through the hexagon socket head cap screw 20, the function of convenient detachment is achieved, when the cable 27 is assembled, only the hexagon socket head cap screw 20 on the winding mechanism needs to be taken out, the cable 27 is directly wound on the winding roll 17 or the end portion of the cable 27 is fixed on the winding roll 17, and the replacement and assembly of the cables 27 with different diameters can be completed by winding through the winding motor 19.
As shown in fig. 2-3, the present invention provides a winding manner for the force control wire device, including but not limited to: the cable 27 passes through the space between the friction wheel 7 and the compression roller 8 after coming out of the wire coiling mechanism, then passes through the space between the compression roller 8 and the first roller 12, then surrounds three quarters of the circumference of the first roller 12, then passes through the space between the first roller 12 and the second roller 13, then surrounds the second roller 13, and is led out to the outlet 11.
As shown in fig. 1, the force control outlet device is of a rectangular structure as a whole, a mounting box 23 for protecting an outlet motor 1 and a winding motor 19 is arranged at the bottom of an outlet mounting plate 2, an upper cover shell 24 for protecting outlet laser is arranged at the upper part of the outlet mounting plate 2, a wire inlet for leading in a cable 27 is arranged at the left end of the upper cover shell 24, and a wire outlet 11 for leading out the cable 27 is arranged at the right end of the upper cover shell; the mounting box 23, the upper cover shell 24 and the outlet mounting plate 2 are firmly combined through interaction including but not limited to a back-off and a clasp.
As shown in fig. 1-6, the various components are fixed and limited on the outgoing line mounting plate 22 by means of, but not limited to, hexagon socket head cap screw 2020.
As shown in fig. 2-6, the friction wheels 7 or rollers of the various types and their corresponding shafts cooperate with each other by means including, but not limited to, keys.
As shown in fig. 1-6, the frame portion of the force control wire device is made of a material including, but not limited to, light alloy or plastic, etc., to ensure that the force control wire device is easily moved.
The invention also provides a wire outgoing method based on real-time following of the cable 27, and the force control wire outgoing device comprises the following steps:
winding the cable 27 on the winding mechanism in a manner including manual winding and winding by the winding motor 19; then, the cable 27 is led out and sequentially wound between the friction wire outlet wheel set and the winding wheel set, and then the using equipment of the cable 27 is connected; as shown in fig. 3, the cable 27 is wound in the following manner: the cable 27 penetrates between the friction wheel 7 and the compression roller 8, then penetrates between the compression roller 8 and the first roller 12, then winds back between the first roller 12 and the second roller 13, and finally penetrates between the friction wheel 7 and the second roller 13;
starting the wire outlet mechanism and the using equipment to start to use;
when the multi-dimensional force sensor monitors the pulling force of the cable 27, the outgoing line motor 1 is started through the controller to carry out following paying-off;
and the direction speed of the wire outlet mechanism is increased or decreased according to the change of the pulling force monitored by the multi-dimensional force sensor, so that the wire outlet speed of the wire outlet mechanism and the movement of the used equipment are kept following in real time.
If the moving speed of the external robot (using equipment) is increased, the force applied to the cable 27 is increased, the six-dimensional force sensor 15 generates a feedback signal to the outgoing line motor 1 through a controller, so that the outgoing line motor 1 starts to work, and the friction wheel shaft 6 starts to rotate in a gear transmission mode including but not limited to;
after the robot finishes working, the cable 27 needs to be retracted, and the winding motor 19 works to drive the winding mechanism to rotate so as to finish winding.
The invention can reduce the resistance of the cable 27 to the robot and greatly reduce the influence of the resistance of the cable 27 to the operation of the robot.
It should be noted that, in the embodiment of the present invention, the six-dimensional force sensor 15 is adopted, and actually, three-dimensional and above force sensors are adopted, and the present invention is not limited to a specific type of force sensor.
It should be noted that the roller, friction wheel 7 and pressure roller 8 and the corresponding shaft mounting formula of the present invention can be replaced according to the prior art, and are not limited to the specific mounting manner described above.
It should be noted that the present invention provides an example of a two-roller winding wheel assembly, and is not limited to two-roller assembly, and considering complexity, the number of rollers may be 3-5, and the rollers for mounting the six-dimensional force sensor 15 are not limited to the first roller 12, and may be the second roller 13 or other rollers.
It should be noted that other conventional configurations of the present invention are not essential to the present invention, and the portions of the present invention not disclosed in detail may be common general knowledge.
The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.
Claims (10)
1. The utility model provides a force control device of being qualified for next round of competitions based on cable is followed in real time which characterized in that includes:
a reeling mechanism for reeling the storage cable;
the wire outlet mechanism is used for paying off the cable of the wire winding mechanism according to the control force; and
the wire outlet mounting plate is used for mounting the wire outlet mechanism;
the wire outgoing mechanism comprises a friction wire outgoing wheel set, a controller, a winding wheel set and a wire outgoing motor for driving the friction wire outgoing wheel set, wherein the friction wire outgoing wheel set is used for providing wire outgoing friction force for a cable to be paid out, at least one of the winding wheel set is installed on a multi-dimensional force sensor, the cable is wound between the friction wire outgoing wheel set and between the winding wheel sets, the controller is used for receiving signals of the multi-dimensional force sensor, judging the monitored force direction and the monitored tightness of a wire outgoing end of the cable according to the multi-dimensional force sensor, and adjusting the wire outgoing speed of the friction wire outgoing wheel set through controlling the wire outgoing motor according to the tightness.
2. The force control wire device of claim 1, wherein: the friction outgoing line wheel set comprises a friction wheel and a compression roller which are installed on an outgoing line installation plate, the friction wheel is a V-shaped wheel with a V-shaped groove in the surface, the compression roller is a conical roller matched with the V-shaped groove, and the outgoing line motor is connected with the friction wheel in a power transmission mode.
3. The force control wire device of claim 2, wherein: the compression roller is installed on the wire outlet installation plate through the translation mechanism, and the distance between the compression roller and the friction wheel is adjusted through the translation mechanism so as to adapt to cables with different diameters.
4. The force control wire device of claim 2, wherein: the friction wheel is installed on the wire outlet installation plate through a friction wheel shaft, the friction wheel shaft is installed on the wire outlet installation plate through a bearing, the friction wheel is fixed to the top of the friction wheel shaft above the wire outlet installation plate, and the lower end of the friction wheel shaft is connected with a wire outlet motor through a transmission gear.
5. The force control wire device according to any one of claims 2-4, wherein: the winding wheel set comprises a first roller and a second roller, wherein the first roller and the second roller are arranged in parallel, one roller is directly arranged on the wire outlet mounting plate, the other roller is arranged on the multidimensional force sensor, and the multidimensional force sensor is arranged on the wire outlet mounting plate.
6. The force control wire device of claim 5, wherein: the winding wheel set is arranged at the position of the downstream of the outgoing line of the friction outgoing line wheel set, the first idler wheel is installed on the multi-dimensional force sensor, the first idler wheel is arranged at the position corresponding to the compression roller, and the second idler wheel is arranged at the position corresponding to the friction wheel.
7. The force control wire device of claim 6, wherein: the cable winding mode is as follows: the cable penetrates between the friction wheel and the compression roller, then penetrates between the compression roller and the first roller, then winds back between the first roller and the second roller, and finally penetrates between the friction wheel and the second roller.
8. The force control wire device of claim 6, wherein: the first roller and the second roller are both V-shaped wheels.
9. The force control wire device according to any one of claims 2-4, wherein: the winding mechanism comprises a winding roll and a winding motor for driving the winding roll to rotate for winding, and a U-shaped groove convenient for observing cable allowance is formed in the winding roll.
10. An outlet method based on real-time cable following adopts the force control outlet device of any one of claims 1-9, and is characterized by comprising the following steps:
the cable is wound on the wire winding mechanism, then the cable is led out and sequentially wound between the friction wire outlet wheel set and the wire winding wheel set, and then the cable is connected with the using equipment of the cable;
starting the wire outlet mechanism and the using equipment to start to use;
when the multi-dimensional force sensor monitors the pulling force of the cable, the outgoing line motor is started through the controller to carry out following paying-off;
and the direction speed of the wire outlet mechanism is increased or decreased according to the change of the pulling force monitored by the multi-dimensional force sensor, so that the wire outlet speed of the wire outlet mechanism and the movement of the used equipment are kept following in real time.
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| CN202111208020.4A CN113911856B (en) | 2021-10-18 | 2021-10-18 | Force control wire outlet device and method based on cable real-time following |
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