CN114634068A

CN114634068A - Automatic wire winding device with time delay self-locking function and exoskeleton

Info

Publication number: CN114634068A
Application number: CN202011487901.XA
Authority: CN
Inventors: 袁博; 陈国�; 杨国庆; 崔银平
Original assignee: Chongqing Niudi Innovation Technology Co ltd
Current assignee: Chongqing Niudi Innovation Technology Co ltd
Priority date: 2020-12-16
Filing date: 2020-12-16
Publication date: 2022-06-17
Anticipated expiration: 2040-12-16
Also published as: CN114634068B

Abstract

The invention discloses a time-delay self-locking automatic winding device, which is characterized in that a time-delay self-locking mechanism matched with a winding mechanism is arranged, so that after a corresponding length of a drawn wire is drawn out from the winding mechanism at a first preset speed and is paused for a first preset time, the time-delay self-locking mechanism carries out self-locking on the drawing direction of the winding mechanism, the automatic winding device can be arbitrarily retracted, can be drawn out at will when being drawn out quickly, and is self-locked in the drawing direction after pausing for a moment. The automatic wire winding device is suitable for application scenes such as upper limb assistance exoskeletons and slings for lifting goods in factories and the like, the height of which needs to be adjusted, can better provide assistance for users, is simple to operate, and improves user experience. Correspondingly, the invention further provides an exoskeleton with the time-delay self-locking automatic wire winding device.

Description

Time-delay self-locking automatic winding device and exoskeleton

Technical Field

The invention relates to a winding device, in particular to a time-delay self-locking automatic winding device and an exoskeleton with the automatic winding device.

Background

With the development of science and technology and the increasing demands of users, nowadays various products/devices with pull wires (such as various threadlike, flat ribbon-like or strip-like objects like ropes, power lines, data lines, etc.) are provided with automatic wire winding mechanisms for arranging the pull wires. Currently, the automatic winding mechanism generally includes two types: when the pull wire is withdrawn under the tension of a coil spring, the pull wire is locked by a pawl at a specific position so as to prevent the pulled pull wire from being completely withdrawn, such as an automatic telescopic air drum, an automatic telescopic power line, an automatic winding USB and the like; the other is self-locking when stretching, namely when the pulling speed of the pull wire exceeds a certain speed, the pull wire is automatically locked, but can be arbitrarily withdrawn when being withdrawn, for example, a car safety belt.

However, in some usage scenarios, there is a need for a device that can be retracted at will, and that can be pulled out freely (i.e., pulled out at will) when it is pulled out quickly, but that automatically pulls out the dead lock when it is pulled out for a length and stops for a moment. For example, when designing an upper limb assistance exoskeleton with a wire pulling mechanism, in order to help a user bear the weight of carrying goods in front of the chest, and simultaneously allow the user to lift or lower the height of the weight when needed, and for convenience, the user is not required to press a button by hands when carrying the weight, a simple assistance and operation mode needs to be provided, namely, a rope mechanism capable of automatically stretching and retracting is designed, the main body of the rope mechanism is arranged on the shoulder or back of a human body, the rope is arranged at the front position of the chest after bypassing the head or the shoulder of the human body, the user wears a modular carrying hook hand or glove by two hands, when the user wants to put down an arm to pick up the goods, the hook hand only needs to be lifted properly, and the rope can be put down rapidly and can follow the extension. When the user picks up the goods, the hook can be lifted to the handy position, the rope can be locked to pull out after stopping for a moment, and the user can utilize the locked rope to transmit the weight of the weight to the shoulder and the waist through the rope without using arms to provide continuous force to maintain the height of the weight. When the user wants to put down the goods, the user can put down the goods by only slightly lifting the goods and then unlocking the telescopic pull-out locking mechanism.

However, there is no automatic winding device that can be retracted at will, can move freely when pulled out quickly, and can be pulled out automatically after a pause. Therefore, there is a need for a device that can be retracted and pulled out freely and quickly, and that can be automatically locked in the pulling out direction after a pause, so as to be suitable for the above-mentioned upper limb assisting exoskeleton and the application scenarios such as slings for lifting goods in factories and the like that require adjustment of the height of the goods.

Disclosure of Invention

Aiming at the technical problems, the invention provides a time-delay self-locking automatic wire winding device which can partially solve the technical problems, so that a pull wire in the automatic wire winding device can be freely pulled out when being pulled out quickly, and can be automatically locked after being stopped for a moment, namely, the time-delay self-locking in the pulling-out direction is realized.

In order to solve the problems, the invention provides an automatic wire winding device, which comprises a wire winding mechanism and a time delay self-locking mechanism, wherein the wire winding mechanism is arranged in a base and used for winding a pull wire, and the time delay self-locking mechanism is arranged in the base and corresponds to the wire winding mechanism; when the pull wire is pulled out of the wire winding mechanism at a first preset speed and stops for a first preset time length, the time-delay self-locking mechanism is matched with the wire winding mechanism so as to self-lock the pulling-out direction of the wire winding mechanism; wherein the first preset speed is greater than a preset pull-out speed threshold.

In an exemplary embodiment of the present disclosure, when the pull wire is pulled out from the wire winding mechanism at a second preset speed and is continuously pulled out for a second preset time length, the time-delay self-locking mechanism cooperates with the wire winding mechanism to self-lock the pulling-out direction of the wire winding mechanism; wherein the second preset speed is less than or equal to the preset pull-out speed threshold.

In an exemplary embodiment of the present disclosure, the time-delay self-locking mechanism includes: the damping buffer pawl mechanism can be meshed with the ratchet on the ratchet wheel; when the pull wire is pulled out of the winding mechanism at a first preset speed and stops for a first preset time length, or when the pull wire is pulled out of the winding mechanism at a second preset speed and continuously pulls out for a second preset time length, a delay pawl in the damping buffer pawl mechanism is meshed with the ratchet so as to self-lock the pulling-out direction of the winding roll.

In an exemplary embodiment of the present disclosure, the number of the ratchet wheels is two, and the two ratchet wheels are symmetrically installed at both sides of the wire winding roll, respectively.

In an exemplary embodiment of the disclosure, a plurality of ratchet teeth with pull-out external lead angles are uniformly arranged on the ratchet wheel along the circumferential direction.

In an exemplary embodiment of the present disclosure, the damping buffer pawl mechanism includes: the time delay pawl can be meshed with the ratchet, and the rebound damping mechanism is arranged in the base in a manner of rotating relative to the base, and is connected with the time delay pawl in a sliding or coaxial rotating manner; the rebound damping mechanism acts on the delay pawl to reduce the speed at which the delay pawl engages the ratchet teeth during the pull-out of the pull wire, thereby prolonging the time at which the delay pawl engages the ratchet teeth.

In an exemplary embodiment of the present disclosure, the damping buffer pawl mechanism includes: a delay pawl engageable with the ratchet teeth, and a rebound damping mechanism and a first elastic member, wherein the delay pawl is rotatably mounted in the base, and the rebound damping mechanism and the first elastic member are mounted in the base and are oppositely disposed on both sides of the delay pawl; the rebound damping mechanism and the first elastic member act together on the delay pawl to reduce the speed at which the delay pawl engages with the ratchet teeth during the pulling-out of the wire, thereby prolonging the time at which the delay pawl engages with the ratchet teeth.

In an exemplary embodiment of the present disclosure, the rebound damping structure includes: a linear damper having a resilient force and in sliding/point contact with the delay pawl.

In an exemplary embodiment of the present disclosure, the rebound damping structure includes: and a rotary damper and a second elastic member disposed coaxially with the delay pawl.

In an exemplary embodiment of the present disclosure, the first elastic member includes a linear type adjustment spring.

In an exemplary embodiment of the present disclosure, the second elastic member includes a torsion spring.

In an exemplary embodiment of the present disclosure, the delay pawl includes: the pawl shifting block is arranged between the rebound damping mechanism and the first elastic piece, and at least one pawl clamping tooth capable of being meshed with the ratchet; the pawl shifting block is installed in the base in a mode of rotating relative to the base, and the pawl latch is coaxially and rotatably connected with the pawl shifting block.

In an exemplary embodiment of the present disclosure, the delay pawl includes: the pawl clamping teeth can be meshed with the ratchets on the ratchet wheel, the pawl central shaft is coaxially arranged with the second elastic piece, and the pawl driving lever corresponds to the second elastic piece; the pawl deflector rod is fixedly connected with the pawl central shaft, and the pawl central shaft is installed in the base in a manner of rotating relative to the base and is coaxially and rotatably connected with the pawl latch.

In an exemplary embodiment of the disclosure, the second elastic member is sleeved on the pawl central shaft, and the first torsion arm of the second elastic member abuts against the pawl driving lever, and the second torsion arm of the second elastic member abuts against an inner wall of the base, so that the torque of the second elastic member is transmitted to the pawl central shaft through the pawl driving lever.

The invention provides another automatic wire coiling device, which comprises a wire coiling mechanism and a time delay self-locking mechanism, wherein the wire coiling mechanism is arranged in a base and used for winding a pull wire, and the time delay self-locking mechanism is arranged in the base and corresponds to the wire coiling mechanism; when the pull wire is pulled out of the wire winding mechanism at a second preset speed and is continuously pulled out for a second preset time length, the time-delay self-locking mechanism is matched with the wire winding mechanism so as to self-lock the pulling-out direction of the wire winding mechanism; wherein the second preset speed is less than or equal to the preset pull-out speed threshold. Wherein, the time-delay self-locking mechanism can also adopt the time-delay self-locking mechanism.

In another aspect, the invention also provides an exoskeleton which comprises the automatic wire winding device. Has the advantages that:

the invention arranges the time-delay self-locking mechanism in the automatic wire winding device, so that the wire can be freely drawn out when the wire wound in the wire winding mechanism is quickly drawn out, and when the reel is pulled out by a corresponding length and stops for a while, the pulling-out direction of the reel mechanism is automatically locked, thereby realizing the purpose of time delay self-locking, in particular, through a rebound damping mechanism in the damping buffer pawl mechanism, or the rebound damping mechanism and the first elastic piece act together to reduce the speed of the pawl clamping teeth of the delay pawl meshing with the ratchet teeth on the ratchet wheel so as to prolong the meshing time between the delay pawl and the ratchet teeth, thereby realizing the delayed self-locking in the pulling-out direction, leading the automatic wire coiling device to be applicable to the upper limb assistance exoskeleton, and the application scenes such as slings for lifting goods in factories and the like, which need to adjust the height of the goods, and the like, and the user experience is improved due to simple structure and convenient operation.

According to the invention, the delayed self-locking automatic winding mechanism is arranged on the exoskeleton, so that a user wearing the exoskeleton can lift the hook to a handy position after picking up a cargo, then stop for a moment, the wire pulling mechanism/winding mechanism in the exoskeleton can be automatically locked, and at the moment, the weight of a heavy object is transmitted to the shoulder and the waist through the pull wire, and the arm is not required to provide continuous force to maintain the height of the heavy object; when the user wants to put down the goods, the user can unlock the telescopic pull-out locking mechanism only by slightly lifting the goods, and the user can put down the goods at the moment, so that the labor intensity of the user is greatly reduced, and the user experience is improved.

The invention arranges the position integrating mechanism which is respectively corresponding to the self-locking mechanism (such as a time-delay self-locking mechanism) and the winding mechanism in the base, and the position of the working piece in the position integrating mechanism is determined by the thickness/length of the winding wire in the winding mechanism, so that when the thickness/length of the wound pull wire reaches (e.g. is equal to or greater than) the preset thickness threshold/preset length threshold, the pawl of the self-locking mechanism can be always arranged in the unlocking region through the working piece, even when the pull wire is mostly or completely withdrawn, the pawl of the self-locking mechanism is always far away from the dead locking clamping groove, and then avoided initial condition just to appear the auto-lock and lead to the condition that the acting as go-between can't be pulled out wantonly, just also need not manual unblock naturally, reduced staff's intensity of labour, also improved user experience. Further, when the self-locking mechanism adopts a time-delay self-locking mechanism, the automatic winding device can freely stretch/pull the stay wire in an initial state, and the pull-out direction realizes self-locking after the stay wire is rapidly pulled out and pauses for a moment, namely the time-delay self-locking is realized in the pull-out direction.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale. It is apparent that the drawings in the following description are of some embodiments of the invention and that other drawings may be derived by those skilled in the art without inventive exercise from these drawings:

fig. 1 is a schematic view showing an internal structure of an embodiment of an automatic wire winding device according to a first exemplary embodiment;

fig. 2 is an exploded view showing the construction of an embodiment of an automatic line reeling device according to the first exemplary embodiment;

fig. 3 is a partial sectional view showing the structure of an embodiment of an automatic wire winding device according to the first exemplary embodiment;

fig. 4 is a schematic diagram showing the internal structure of an embodiment of the delayed self-locking automatic wire winding device in a self-locking state according to the first exemplary embodiment;

FIG. 5 is a schematic view of a pull-out lead-out edge reflecting the rotation of the end of the pawl to a pull-out lead-out angle when the wire is pulled out in FIG. 4;

FIG. 6 is a schematic structural diagram of a delayed self-locking automatic line reeling embodiment shown in an unlocked state according to the first exemplary embodiment;

fig. 7 is an exploded view showing the construction of an embodiment of an automatic line reeling device according to a second exemplary embodiment;

fig. 8 is an exploded view of an embodiment of an automatic line reeling device according to a second exemplary embodiment, shown at another angle;

fig. 9 is a schematic view showing an internal structure of an embodiment of an automatic wire winding device according to a second exemplary embodiment;

fig. 10 is a schematic view showing an internal structure of an embodiment of an automatic wire winding device according to a third exemplary embodiment;

fig. 11 is a schematic view of the internal structure of an embodiment of the automatic delayed self-locking wire winding device in the initial state according to the third exemplary embodiment;

fig. 12a is a schematic view showing an internal structure of an embodiment of an automatic wire winding device according to a fourth exemplary embodiment;

fig. 12b is a transverse cross-sectional view of an embodiment of an automatic line reeling device according to the fourth exemplary embodiment;

fig. 13 is an exploded view showing the construction of an embodiment of an automatic wire winding device according to a fourth exemplary embodiment;

fig. 14 is an exploded view of an embodiment of an automatic wire winding device according to a fourth exemplary embodiment from another perspective.

11 is a winding mechanism, 12 is a time-delay self-locking mechanism, 110 is a winding roll, 111 is a ratchet wheel, 112 is a wire slot, 120 is a time-delay pawl, 121 is a pawl latch, 122 is a shifting block, 131 is a linear adjusting spring, 141 is a linear damping buffer, 160 is a pull wire, 180 is a coil spring cover, 200 is a base, 201 is a linear damping buffer fixing seat, 150 is a coil spring, 151 is an outer ear, 152 is an inner ear, 1611 is a fixing end, 170 is a flat belt fixing pin, 181 is a central through hole, 190 is an outer cover, 203 is a second fixing shaft, 204 is a first fixing shaft, 206 is an outlet hole, 202 is a guide rod, 111a is a current ratchet, 111b is a previous ratchet, 111c is a next ratchet, 111d is a next previous ratchet, 1111 is a pull-out ratchet push-out guide angle, 1112 is a pull-in push-out guide angle, 1113 is a locking groove dead, 1115 is an inner edge, 1211 is an outer push surface, 1212 is an end, 124 is a central shaft hole, 127 is a central shaft hole, 128 is a pawl deflector rod, 129 is a spline, 1251 is a keyway, 132 is a torsion spring, 142 is a rotary damping buffer, 1621 is a steel wire end, 191 is a rotary damping buffer fixing seat, 116 is a steel wire end fixing hole, 1422 is a spline rotary end, 1321 is a first torque arm, 1322 is a second torque arm, 210 is a thickness measuring roller, 220 is a roller bracket, 21 is a position integrating mechanism, 1210 is a deflector rod touch point, 182 is a vortex-shaped chute, 207 is a third fixing shaft, 230 is a rotary deflector rod, 234 is a pawl push-out part, 231 is a chute convex point, 233 is a connecting deflector rod, 232 is a connecting cross rod

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Herein, suffixes such as "module", "part", or "unit" used to denote elements are used only for facilitating the description of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.

The term is defined as:

and (3) wire pulling: as used herein, a "pull cord" refers to an object used in various devices or apparatus for transmitting force, or for connecting components, and having a length and cross-section in the form of a flat band/strip, or a circular/circular ring. For example, the pull wire with a flat belt/strip-shaped cross section comprises a braided belt, a rubber band rope, a parallel communication wire and the like; the stay wire with a round section comprises a steel wire, a nylon rope, an electric wire, a USB wire, an air pipe, a water pipe, an oil pipe and the like.

Time-delay self-locking: the term "delayed self-locking" as used herein means that when a user performs a first specific action on the delayed self-locking wire winding device, the pulling direction of the delayed self-locking wire winding device is not immediately self-locked, but the pulling direction of the delayed self-locking wire winding device can be self-locked (but the retracting direction can be arbitrarily retracted) only after the user keeps stopping the first specific action for a certain period of time (i.e., a first preset duration). For example, when a user pulls a certain length of pull wire at a first preset speed (the first preset speed is greater than or equal to a preset speed threshold), the pulling direction of the wire winding disc in the wire winding mechanism is not self-locked immediately, but is self-locked after a pause for a certain time (e.g., 3s or 5 s), and at this time, when the user pulls the pull wire at any pulling speed again, the pull wire cannot be pulled out of the wire winding disc continuously. Or, when the user makes a second specific action on the time-delay self-locking winding device and continues for a period of time (i.e. a second preset duration, which may be greater than the first preset duration, or less than or equal to the first preset duration, and under the premise that other conditions are not changed, the second preset duration threshold is related to the speed at which the pull wire is pulled out), the pull-out direction of the time-delay self-locking winding device is self-locked (the retraction direction can be retracted arbitrarily). For example, when the user pulls the wire at the second predetermined speed (the second predetermined speed is lower than the predetermined speed threshold), the second predetermined speed is small enough that the delay pawl gradually rotates and engages with the ratchet teeth of the ratchet wheel during the pulling of the wire, so that the pulling direction of the spool is self-locked.

Presetting a speed threshold value: the "preset speed threshold" herein refers to a critical speed value at which the pull-out direction of the wire winding roll can just achieve self-locking when the user pulls the pull wire out of the wire winding roll of the wire winding mechanism, that is, when the user pulls the pull wire out of the wire winding roll at a speed less than or equal to the critical value and continues for a period of time (e.g., a second preset time), the pull-out direction of the wire winding mechanism in the delayed self-locking automatic wire winding device is self-locked (i.e., the delay pawl is engaged with the ratchet on the ratchet). On the contrary, when the pull wire is pulled out from the winding roll at the pulling speed greater than the preset speed threshold, the pull wire can be pulled out randomly, and when the time is stopped for the first preset time length, the time-delay self-locking mechanism is self-locked (namely the time-delay pawl is meshed with the ratchet on the ratchet); or when the pulling-out speed is less than the preset speed threshold value, the time-delay self-locking mechanism is self-locked in the pulling-out process of the pull wire, so that the pull wire cannot be pulled out continuously.

A first preset duration: the term "first predetermined period" as used herein means the time (e.g., 3s or 5s, specifically, the dwell period may be determined by the acting force of the damping bumper and the elastic member acting on the delay pawl, respectively, and the magnitude of the damping force, when the pull wire is pulled out for a length and then stalled at a first predetermined speed (greater than a predetermined speed threshold), the dwell period being determined by the difference Δ F between the push-out force of the linear damper and the compressive counter force of the adjustment spring, and the magnitude of the damping force, for example, in some embodiments, the first predetermined period threshold is determined by the push-out state of the delay pawl (i.e., the state in which the delay pawl is pushed out of the ratchet wheel; for example, referring to fig. 5, the delay pawl is pushed out by the action of the ratchet pull-out lead angle, the pull-out lead edge of the push-out lead angle, and the retraction push-out lead angle in this order, a state in which the delay pawl is rotated in a clockwise direction) is gradually put down to a lock-up state (e.g., a state in which an end of a pawl tooth is wedged into a lock-up tooth on a ratchet wheel, see fig. 4), i.e., a delay lock-up time; the delay time is longer if Δ F is smaller. Of course, the minimum value of this difference Δ F cannot be smaller than the magnitude of the damping force of the linear damper, otherwise the pawl cannot return to the locked state).

The second predetermined period of time "herein refers to the duration of time required for the delay pawl to engage the ratchet teeth on the ratchet wheel during the pull of the cord at a second predetermined speed (less than or equal to the predetermined speed threshold). When the time period is equal to or longer than this, the delay pawl is engaged with the ratchet.

Pulling out direction: the "pull-out direction" herein refers to a rotational direction of the take-up reel when the wire is pulled out. For example, the clockwise rotation direction O1 of the spool in fig. 4 (since the ratchet is disposed coaxially with the spool, specifically, it may be mounted coaxially, or directly fixedly mounted on the spool, the ratchet rotates coaxially with the spool).

Retracting direction: the "retraction direction" herein refers to the direction of rotation of the take up reel when the pull cord is retracted into the wire slot on the take up reel. For example, the counterclockwise direction of rotation of the take-up spool in fig. 4, O2.

An initial state: herein, the "initial state" refers to a state in which the wire in the wire winding mechanism is not pulled out at all (or is completely retracted), or is pulled out only by a small portion so that the wire cannot be further retracted.

An unlocking area: as used herein, the term "unlocking zone" refers to a zone where the end of the pawl tooth of the pawl of the self-locking mechanism is disengaged from/away from the deadlocking tooth space of the ratchet wheel (e.g., the pawl tooth of the pawl is rotated away from the ratchet wheel under the action of the outward-pulling angle of the ratchet wheel or pushed away by the position integrating mechanism to make the end of the pawl tooth away from the deadlocking tooth space), and the outward-pulling height of the end of the pawl tooth (e.g., the distance r from the end 1212 of the pawl tooth of the pawl to the center/circle center of the ratchet wheel is delayed)_P) Is higher/larger than the pull-out external lead angle 1111 of the ratchet teeth on the ratchet wheel (i.e. the distance r from the pull-out external lead angle 1111 of the ratchet teeth on the ratchet wheel to the center/circle center of the ratchet wheel_R) See the area outside the dashed line in fig. 5. In the unlocking zone, the pawl cannot engage with the locking tooth groove of the ratchet, i.e. the pawl cannot lock the spool, regardless of whether the wire is pulled out or retracted.

A self-locking area: as used herein, "self-locking area" refers to the height of the end of the pawl tooth of the pawl in the self-locking mechanism (e.g., the pawl catch of the time-delay pawl as used herein)The distance r of the end 1212 of the tooth from the center of the ratchet_P) Is less than or equal to the pull-out and push-out lead angle of the ratchet on the ratchet wheel (i.e. the distance r between the pull-out and push-out lead angle of the ratchet on the ratchet wheel and the center/circle center of the ratchet wheel_R) See the area between the dashed line in fig. 5 (the dashed line is a circle centered on the center/center of the ratchet wheel and having a radius of the distance between the pullout lead angle of the ratchet tooth and the center of the ratchet tooth) to the edge of the ratchet wheel. In the area, when the pawl clamping teeth of the pawl are gradually close to the locking tooth grooves of the ratchets and are finally meshed with the locking tooth grooves of the ratchets, the pulling-out direction of the wire winding roll is locked by the pawl, namely the self-locking mechanism is in a self-locking state. For example, when the pawl latch of the delay pawl is gradually approached to the dead locking tooth groove of the ratchet and finally engaged with the dead locking tooth groove of the ratchet under the combined action of the rebound damping mechanism (such as a linear damper, or a rotary damper and a second elastic member), or the rebound damping mechanism and a first elastic member, the pull-out direction of the spool is locked by the delay pawl, that is, the delay self-locking mechanism is in a self-locking state (that is, the approaching speed of the delay pawl to the dead locking tooth groove of the ratchet is slowed down/reduced through the combined action of the linear damper, the first elastic member, the rotary damper and the second elastic member, so as to achieve the purpose of delay self-locking). Of course, if the end of the pawl latch is disengaged from the deadlocking tooth space (e.g., the end of the pawl latch is located between two ratchet teeth or located in the unlocking region), the self-locking mechanism is in the unlocked state.

In order to realize the random retraction in the retraction direction and simultaneously realize the free retraction when the wire is pulled out quickly (namely pulled out at a first preset speed), but the self-locking in the pulling direction can be realized after the wire is pulled out quickly and is paused for a period of time (such as a first preset time length), the invention provides a time-delay self-locking automatic wire winding device which comprises a wire winding mechanism arranged in a base and used for winding a pull wire and a time-delay self-locking mechanism arranged in the base and matched with the wire winding mechanism; when the pull wire is pulled out from the winding roll by a corresponding length at a first preset speed and pauses for a first preset time length, the time-delay self-locking mechanism is matched with the winding mechanism to self-lock the pulling-out direction of the winding mechanism (the winding roll).

Further, when the pull wire is pulled out from the winding roll at a second preset speed and is continuously pulled out for a second preset time (the second preset time is equal to or less than or greater than the first preset time), the time-delay self-locking mechanism is matched with the winding mechanism to self-lock the pulling-out direction of the winding mechanism (the winding roll).

The time-delay self-locking mechanism comprises at least one ratchet wheel coaxially and rotatably arranged with a winding roll in the winding mechanism and a damping buffer pawl mechanism capable of being meshed with the ratchet on the ratchet wheel; when the pull wire is pulled out of the winding mechanism at a first preset speed for a corresponding length and stops for a first preset time length, or when the pull wire is pulled out of the winding mechanism at a second preset speed and continuously pulled out for a second preset time length, a delay pawl in the damping buffer pawl mechanism is meshed with a ratchet on the ratchet wheel so as to self-lock the pulling-out direction of the winding roll. Specifically, the damping buffer pawl mechanism comprises: a delay pawl engageable with the ratchet teeth, and a rebound damping mechanism (e.g., a linear damping damper having a rebound force, or a rotary damping damper and a second elastic member) corresponding to the delay pawl, wherein the delay pawl is rotatably mounted in the base with respect to the base, and the rebound damping mechanism is mounted in the base and slidably connected with the delay pawl (e.g., the linear damping damper is slidably connected with the delay pawl by a slider hinge pair or the like), or coaxially rotatably connected (e.g., the rotary damper and the second elastic member are coaxially rotatably connected with a pawl center axis of the delay pawl); when the pull wire is pulled out, the rebound damping mechanism acts on the delay pawl to reduce the speed of the engagement of the delay pawl and the ratchet (for example, referring to fig. 5, when the pull wire is pulled out continuously, so that the winding reel rotates clockwise, the pawl latch of the delay pawl is not pushed by the ratchet, and the pawl shifting block is acted by the rebound damping mechanism, the speed of the pawl latch of the delay pawl being put down is reduced, namely, the rotating speed of the counterclockwise rotation of the delay pawl is reduced), so that the time of the engagement of the delay pawl and the ratchet is prolonged, and further the delay self-locking is realized.

Further, the damping buffer pawl mechanism includes: the pull wire pulling device comprises a delay pawl capable of being meshed with a ratchet, and a rebound damping mechanism and a first elastic piece corresponding to the delay pawl, wherein the rebound damping mechanism and the first elastic piece are oppositely arranged on two sides of the delay pawl (for example, the rebound damping mechanism and the first elastic piece are respectively propped against the two sides of the delay pawl to form point contact), and in the process that the pull wire is pulled out, the rebound damping mechanism and the first elastic piece jointly act on the delay pawl to reduce the meshing speed of the delay pawl and the ratchet, so that the meshing time of the delay pawl and the ratchet is prolonged, and further, delay self-locking is realized.

The invention prolongs the self-locking time of the wire winding mechanism in the pulling-out direction by arranging the time-delay self-locking mechanism, and particularly reduces the speed of meshing a pawl latch of the time-delay pawl to a ratchet on a ratchet wheel by the combined action of a linear damping buffer, or the linear damping buffer and a first elastic part, or a rotary damper and a second elastic part in the damping buffer pawl mechanism, thereby prolonging the time of meshing between the pawl and the ratchet, further realizing the time-delay self-locking in the pulling-out direction, automatically locking after being quickly pulled out and pausing for a moment, being suitable for various scenes needing to be freely retracted and quickly pulled out and automatically pulling out the lock after pausing for a moment, such as the upper limb assisting exoskeleton, a sling for hanging goods in a factory and other application scenes needing to adjust the height of the goods.

On the other hand, in order to avoid that the pawl of the self-locking mechanism is engaged with the ratchet teeth in the initial state, i.e. the pulling wire cannot be further retracted, for example, the delay pawl in the first or second embodiment is wedged into the dead lock slot of the ratchet teeth or touches the inner edge of the pull-out outer push guide corner on the ratchet teeth (i.e. the edge of the ratchet wheel between the two ratchet teeth is close to one end of the dead lock latch tooth) under the combined action of the linear damping buffer and the first elastic member or the rotary damper and the second elastic member after a certain delay, so that the pull-out direction of the winding reel is in the self-locking state, and the winding reel cannot be unlocked due to the further retraction, i.e. the dead lock condition is caused. The invention also provides another automatic wire coiling device which comprises a wire coiling mechanism, a self-locking mechanism and position integrating mechanisms, wherein the wire coiling mechanism and the self-locking mechanism are arranged in the base, the position integrating mechanisms respectively correspond to the wire coiling mechanism and the self-locking mechanism, and the position of a working piece in the position integrating mechanisms is determined by the thickness/length of a wound stay wire in the wire coiling mechanism; when the thickness or the length of the pull wire wound in the wire winding mechanism is larger than or equal to a preset thickness threshold value, or the length of the wound pull wire is larger than or equal to a preset length threshold value, the working piece in the position integrating mechanism enables the pawl latch of the self-locking mechanism to be always arranged in the unlocking area, so that the pulling-out direction of the wire winding mechanism is always kept unlocked. At this time, the stay wire can be arbitrarily stretched.

Wherein, the position integrating mechanism respectively corresponds to the winding mechanism and the self-locking mechanism, and the 'corresponding' means that: the position integrating mechanism has a certain matching relation with the winding mechanism and the self-locking mechanism, and the position integrating mechanism is different from the position relation or the matching relation between the winding mechanism and the self-locking mechanism in different states, and only needs to satisfy the following conditions: when the thickness of the wound pull wire reaches (i.e. is equal to or greater than) a preset thickness threshold value, or the length of the wound pull wire reaches (i.e. is equal to or greater than) a preset length threshold value, the working piece in the position integrating mechanism can drive the pawl of the self-locking mechanism to enter or be always kept in the unlocking area. For example, when the self-locking mechanism adopts the time-delay self-locking mechanism, the position integrating mechanism can be arranged on the time-delay self-locking mechanism, so that the workpiece of the position integrating mechanism can change the position along with the thickness change of a stay wire wound by a wire winding disc in the wire winding mechanism, and a time-delay pawl in the time-delay self-locking mechanism is driven to rotate; alternatively, the position integrating mechanism may be installed near the winding mechanism, so that the working member and the winding disc in the winding mechanism are coaxially and rotatably installed, and the position of the position integrating mechanism may be changed according to the length change of the pull wire wound around the winding disc in the winding mechanism, and when the length of the wound pull wire is greater than or equal to a preset length threshold, the working member triggers, pushes, and drives the delay pawl in the delay self-locking mechanism to rotate, as shown in the following third embodiment.

Specifically, the position integrating mechanism may employ a scroll plate/a scroll groove/a screw mechanism/a speed reducing mechanism, and a rotation lever that is fitted to the scroll plate/the scroll groove/the screw mechanism/the speed reducing mechanism; or a roller mechanism, etc.

Example one

Referring to fig. 1, an internal structure schematic diagram of an embodiment of a time-delay self-locking automatic wire winding device is shown for a first exemplary embodiment. Specifically, the delayed self-locking automatic winding device of the present embodiment includes a winding mechanism 11 for winding the pulling wire 160, a base 200 for mounting the winding mechanism 11, and a delayed self-locking mechanism 12 mounted in the base 200, wherein the delayed self-locking mechanism 12 corresponds to the winding mechanism 11. When the pulling wire 160 is pulled out from the winding mechanism 11 at a first predetermined speed for a predetermined length and stops for a first predetermined time, the time-delay self-locking mechanism 12 is engaged with the winding mechanism 11 to self-lock the pulling direction of the winding mechanism 11.

Referring to fig. 2, specifically, the winding mechanism 11 includes a winding roll 110, a coil spring 150 and a coil spring cover 180, wherein the winding roll 110 is rotatably connected to the base 200 by a first fixing shaft 204 on the base 200 (i.e. the winding roll 110 can rotate clockwise/counterclockwise by using the first fixing shaft 204 as a rotating shaft), the coil spring 150 is installed in an installation sinking groove on the winding roll 110, an outer ear 151 of the coil spring 150 is inserted into an outer ear fixing groove of the coil spring on an inner wall of the installation sinking groove, an inner ear 152 of the coil spring 150 is inserted into an inner ear fixing groove on the first fixing shaft 204 (see fig. 2), the coil spring 150 is then confined in the installation sinking groove by the coil spring cover 180, and one end of the first fixing shaft 204 having the inner ear fixing groove is penetrated through a central through hole 181 of the coil spring cover 180 (see fig. 3), and after the winding mechanism 11 and the time delay self-locking mechanism 12 are installed, the base 11 and the time delay self-locking mechanism 12 are enclosed by an outer cover 190.

In one embodiment, the pull cord 160 is wound around the cord slot 112 of the cord reel 110, with the fixed end 1611 thereof being fixed within the cord slot 112 and the free end thereof extending out of the cord exit 206 of the base 200, such that the user can pull the pull cord 160 from the cord reel 110 in the base through the free end.

In some embodiments, the ribbon 160 is a flat ribbon, and the fixed end of the flat ribbon is sewn or ironed to form a circular hole, and when the flat ribbon fixing pin 170 sequentially passes through the fixing pin mounting hole (specifically, the corresponding fixing pin mounting holes are symmetrically formed on the two side walls of the wire slot 112) on the winding reel 110 and the circular hole of the flat ribbon fixing end (i.e., the ribbon fixing end 1611), the flat ribbon fixing end is fixed in the wire slot 112, and the free end of the flat ribbon can pass through the ribbon outlet 206 of the base 200, as shown in fig. 3.

In practice, the coil spring 150 is installed in the installation recess under a pre-tensioned state, and the installation direction of the coil spring 150 is required to be the same as the rotation direction of the spool 110 when the wire 160 is pulled out (i.e., the same as the pulling-out direction of the spool 110).

Referring to fig. 2, in some embodiments, the time-delay self-locking mechanism 12 specifically includes ratchet wheels 111 symmetrically disposed on the front and rear sides of the winding roll 110, and a damping buffer pawl mechanism capable of engaging with the ratchet teeth on the ratchet wheels 111, wherein the ratchet wheels 111 are coaxially and rotationally connected with the winding roll 110 (i.e., when the winding roll rotates clockwise, the ratchet wheels rotate clockwise with the winding roll, when the winding roll rotates counterclockwise, the ratchet wheels rotate counterclockwise with the winding roll, specifically, the ratchet wheels and the winding roll can be designed integrally, see fig. 3; of course, the ratchet wheels can also be designed separately from the winding roll), and the damping buffer pawl mechanism is installed in the base 200 and corresponds to the ratchet teeth on the ratchet wheels 111.

Specifically, the ratchet wheel 111 is uniformly provided with a plurality of ratchet teeth with the pull-out lead-out angle 1111 in the circumferential direction, and all the ratchet teeth face the rotational direction in which the wire 160 is pulled out, see fig. 1 and 3. Wherein one side of the pull-out push-out lead angle 1111 and the edge of the ratchet wheel near the ratchet tooth (i.e., the inner edge of the ratchet tooth) form a dead lock tooth groove 1113 engageable with the delay pawl in the damping buffer pawl mechanism 12, and the other side of the pull-out push-out lead angle 1111 is a pull-out push-out lead angle 1112 formed with the retraction push-out lead angle. That is, when the delay pawl is engaged with the locking teeth groove 1113, the delay pawl 120 self-locks the drawing direction of the take-up reel 110.

Specifically, the damping pawl mechanism 12 includes a delay pawl 120 engageable with the ratchet teeth of the ratchet wheel 111, and a linear damping bumper 141 and a linear adjusting spring 131 installed in the base 200 and disposed opposite to each other on both sides of the delay pawl 120 (i.e., a resilient linear damping bumper and a first elastic member are disposed opposite to each other on both sides of the delay pawl). Wherein, the delay pawl 120 is rotatably mounted in the base 200 in a manner of rotating relative to the base 200 and is located at one side of the winding roll 110 (as shown in fig. 4, located at the right side of the winding roll 110); the linear damping damper 141 is fixedly installed in the base 200 and located below the winding reel 110, and the free end of the push rod of the linear damping damper 141 abuts against one side of the delay pawl 120 (as shown in fig. 4, a linear damping damper fixing seat 201 is provided below the winding reel in the base, and then the linear damping damper is installed in the linear damping damper fixing seat 201 such that the push rod abuts against the left side of the pawl dial 122), and one end of the linear adjusting spring 131 is installed on a guide rod 202 on the side wall of the base, and the other end abuts against the other side of the delay pawl 120 (as shown in fig. 3, the other end of the adjusting spring 131 is placed in an elastic member guide groove corresponding to the adjusting spring on the right side of the pawl dial 122 of the delay pawl 120), i.e. the rebound damping mechanism and the first elastic member are in point contact with the delay pawl, respectively.

In some embodiments, referring to fig. 4, the delay pawl 120 includes a pawl latch 121 (specifically, the delay pawl 120 includes two pawl latches 121 disposed side by side corresponding to the ratchet wheels on both sides of the winding roll 110, referring to fig. 2), and a pawl block 122 coaxially and rotatably connected to the pawl latch 121 (specifically, a corresponding second fixed shaft 203 is disposed in the base 200, and the pawl latch 121 and the pawl block 122 are provided with pawl rotation shaft holes axially matched with the second fixed shaft 203, that is, when the pawl latch 121 and the pawl block 122 are mounted on the second fixed shaft 203, the pawl latch 121 and the pawl block 122 rotate clockwise or counterclockwise synchronously with the second fixed shaft 203 as a rotation shaft, that is, the delay pawl 120 is rotatably mounted in the base 200).

Referring to fig. 3, a linear damping buffer (i.e., a rebound damping mechanism) is disposed on one side of the click paddle 122, and the linear damping buffer has a certain external pushing force and a large damping force, and can be pushed out at a constant speed, so that the pushing speed can be different according to the difference of external forces when the linear damping buffer is compressed. However, since the magnitude and speed of the external pushing force are relatively fixed (especially, in the case of a finished linear damping damper), and the linear damping damper 141 and the dial 122 are in point contact (i.e., high pair coupling), the freedom of movement of the delay pawl is not sufficiently limited, and therefore, when the linear damping damper is compressed (for example, when the delay pawl 120 rotates clockwise, the pawl dial 122 compresses the push rod of the linear damping damper), there may be a case where the delay pawl is out of contact with the linear damping damper due to the shaking or inertia of the automatic winding device, thereby causing an accidental lock of the winding reel. Thus, in practice, the speed at which the delay pawl 120 is lowered is adjusted by disposing a first resilient member opposite the other side of the pawl paddle 122. That is, the speed of the counterclockwise rotation of the delay pawl is adjusted by arranging a linear damping bumper and a first elastic member (for example, a linear adjusting spring) on both sides of the pawl driver 122 so that both members act on the pawl driver 122 together. That is, the linear damping bumper and the first elastic member are oppositely arranged, so that the first elastic member and the linear damping bumper cooperate to adjust the speed of the delay pawl 120 being put down into the dead lock tooth slot 1113, thereby realizing the delay self-locking, and meanwhile, the position of the delay pawl 120 at any moment is ensured to be determined uniquely through the first elastic member, thereby avoiding the accidental dead lock of the winding reel caused by shaking or inertia, and further ensuring the stability of the device.

Specifically, the difference between the thrust of the linear damping buffer and the compression counter force of the first elastic element and the damping magnitude of the linear damping buffer determine the time required for the delay pawl to gradually fall down from the push-out state to the self-locking state, namely the delay self-locking time. The delay time is longer if the difference is smaller, and of course, the minimum value of the difference cannot be smaller than the damping force of the linear damper buffer, otherwise the pawl cannot return to the locked state. Accordingly, the compression reaction force of the first elastic member in the maximum compression state must be smaller than the thrust force of the damper buffer, otherwise the delay pawl cannot return to the latch state.

Of course, in other embodiments, a resilient linear damping buffer may be used alone, that is, a resilient damping mechanism is disposed on only one side of the delay pawl, but a resilient member of the resilient damping mechanism is slidably connected to the pawl driver 122 of the delay pawl by a slide block hinge pair or the like, and in this case, the linear adjusting spring 131 as shown in fig. 5 is not required.

In particular, referring to fig. 4, since the end 1212 of the pawl latch 121 is wedged into the dead lock slot 1113 of the current ratchet 111a, the pulling direction (i.e. clockwise direction, as shown by arrow O1 in fig. 4) of the spool 110 is resisted, i.e. the pulling direction of the spool 110 is currently in a self-locking state, at this time, the pull wire 160 cannot be pulled out continuously and can bear a large pulling load, and the pulling load is transmitted to the first fixed shaft 204 and the pawl latch 121 on the base 200 through the pull wire 160. At this time, if the external pulling force is removed, the wire 160 can be retracted into the wire spool 150 by the resilient force of the coil spring 150, and when retracted, the wire spool 110 rotates counterclockwise (see arrow direction O2 in fig. 4), while the end 1212 of the pawl latch 121 gradually disengages from the deadlocking tooth slot 1113 of the current ratchet tooth 111a and gradually moves to the withdrawal outer lead 1112 of the next ratchet tooth 111b along the ratchet edge between the current ratchet tooth 111a and the next ratchet tooth 111b (i.e., the withdrawal outer lead 1112 of the next ratchet tooth 111b contacts the outer lead 1211 of the pawl latch 121), and under the withdrawal outer lead 1112, the delay pawl 120 rotates clockwise, and at this time, the linear damper buffer 141 is compressed by the pressing of the pawl driver 122, and the linear adjustment spring 131 is gradually released. As the pull wire 160 continues to be retracted, the end 1212 of the pawl latch 121 transitions sequentially to the pull-out lead angle 1111 of the last ratchet tooth 111b, the inner edge 1115 of the pull-out lead angle 1111 of the last ratchet tooth 111b, the ratchet edge between the last ratchet tooth 111b and the next last ratchet tooth 111d, and so on, until retraction is stopped.

In particular, referring to fig. 5, when the retraction lead-out angle 1112 of any ratchet tooth on the ratchet 110 abuts against the lead-out surface 1211 of the pawl latch 121 (at this time, the delay pawl is currently in the push-out state and is pushed out to the far end), the winding reel 110 can rotate freely clockwise or counterclockwise (see arrows O1 and O2 in fig. 5), i.e., the wire 160 wound on the winding reel 110 can be pulled out or retracted arbitrarily. In the present state, if the pulling wire 160 is continuously pulled out (the winding reel 110 is rotated clockwise), the withdrawing outer lead 1112 of the current ratchet tooth 111a will leave the outer lead 1211 of the pawl latch 121, and when the withdrawing outer lead 1111 of the next ratchet tooth 111c of the current ratchet tooth 111a does not contact the end portion 1212 of the pawl latch 121 and the withdrawing outer lead 1112 of the next ratchet tooth 111c also does not contact the outer lead 1211 of the pawl latch 121, the delay pawl 120 will gradually lower the pawl latch 121 (i.e., the delay pawl 120 rotates counterclockwise around the second fixing shaft 203) under the combined action of the linear damping bumper 141 and the adjusting spring 131. If the pull wire 160 is pulled at a speed too slow (i.e., less than the predetermined speed threshold) at this time, r is satisfied before the next ratchet tooth 111c contacts the delay pawl 120_P≤r_RThe end 1212 of the pawl latch 121 is wedged into the dead lock notch 1113 of the next ratchet 111c, so that the pulling direction of the spool 110 is self-locked, i.e. the pulling wire 160 cannot be pulled out any more. Accordingly, if the pulling wire is pulled out at this time at a slightly faster speed, r is satisfied when the next ratchet 111c of the previous ratchet 111a touches the delay pawl 120_P>r_RThen the end 1212 of pawl latch 121 will be gradually pushed out again (i.e., the delay pawl 120 will rotate clockwise) under the push-out lead angle 1111 of the next ratchet tooth 111c, so that the pull wire 160 can be continuously pulled out. Wherein r is_RThe straight line distance between the pull-out external lead angle 1111 of the ratchet on the ratchet wheel 111 and the center/circle center of the ratchet wheel 111; r is_PThe linear distance between the end 1212 of the pawl latch 121 and the center/circle of the ratchet wheel 111.

In particular, referring to FIG. 6, if during the pulling of the wire 160, the end 1212 of the pawl latch 121 contacts the pull-out push-out of the next ratchet tooth 111cWhen the pull-out and push-out guide edge between the lead angle 1111 and the retraction and push-out angle 1112 is formed, the delay pawl 120 gradually pushes out the pawl catch 121 (i.e., the delay pawl 120 rotates clockwise, see arrow direction O3 in fig. 6) by the pressing action of the pull-out and push-out guide edge of the next ratchet tooth 111c, and the pawl driver 122 presses the push rod of the linear damping damper 141 on one side thereof, and accordingly, the adjustment spring 131 is released to some extent. At this time, the distance r between the end 1212 of the pawl latch 121 and the center (or center) of the ratchet wheel 111 is determined_PIs greater than the distance r between the pull-out and push-out angle 1111 of the ratchet teeth on the ratchet wheel 111 and the center (or circle center) of the ratchet wheel 111_RTherefore, the time delay self-locking mechanism is in an unlocking state currently, namely, the pull wire on the winding roll can be pulled out or retracted.

However, if the position of the take-up reel 110 is stopped just in the state shown in fig. 6 when the wire 160 is at the end of the pulling or retracting movement, the end 1212 of the pawl tooth 121 cannot be wedged into the deadlocking tooth groove 1113 of the ratchet, so that the wire 160 cannot bear the load. However, at this time, if the pull wire 160 is extended or retracted by a small amount, the end 1212 of the pawl latch 121 can escape from the position and then be wedged into the locking tooth slot 1113 of the ratchet again, so as to lock the pulling direction of the spool 110, i.e. the clockwise rotation direction, and at this time, the pull wire 160 can efficiently bear the pulling load.

As can be seen from the above description, before the ratchet tooth contacts the pawl latch 121 during the pulling/retracting process of the wire 160, if the distance r between the end 1212 of the pawl latch 121 and the center (or circle center) of the ratchet 111 is larger than the distance r_PLess than or equal to the distance r between the pull-out and push-out angle 1111 of the ratchet teeth and the center (or circle center) of the ratchet wheel 111_RThe end part of the pawl latch is wedged into the dead locking tooth groove of the ratchet, so that the pulling direction of the winding roll is self-locked (see figure 4); when the ratchet teeth contact the pawl latch, if the distance r between the end 1212 of the pawl latch 121 and the center of the ratchet wheel 111 is larger_PGreater than the distance r between the pull-out-push angle 1111 of the ratchet teeth and the center of the ratchet wheel 111_RThen, the time delay self-locking mechanism 12 is currently in the unlocked state, i.e. the pulling direction of the winding roll 110 is unlocked (see fig. 5 and 6), and the pulling wire can be pulled outOr retracted.

In order to balance the stress, two ratchet wheels 111 are symmetrically arranged on the front side and the rear side of the winding roll 110, and correspondingly, the delay pawl 120 also adopts two pawl latch teeth 121 arranged side by side to match with the ratchet teeth on the front side and the rear side of the winding roll 110 respectively, as shown in fig. 2, so that the winding roll has more uniform stress characteristics when being locked and bearing. Of course, in other embodiments, a ratchet wheel may be separately provided on the front side or the rear side of the winding roll 110, and correspondingly, a pawl latch may be provided on the delay pawl 120 corresponding to the ratchet wheel.

Example two

Referring to fig. 7, an exploded view of an embodiment of a delayed self-locking automatic wire winding device according to a second exemplary embodiment of the present invention is shown. Specifically, the automatic delayed self-locking winding device of this embodiment includes the winding mechanism 11, the base 200, and the delayed self-locking mechanism 12 in the above embodiments, except that the delayed pawl 120 in the delayed self-locking mechanism 12 specifically includes: the pawl latch 121, the pawl center shaft 127 and the pawl lever 128, wherein the pawl center shaft 127 is rotatably installed in the base 200 (specifically, the pawl center shaft 127 can be rotated around the second fixed shaft 203 by providing a center shaft hole 124 on the pawl center shaft 127 through which the second fixed shaft 203 of the base 200 can pass), the pawl latch 121 is coaxially and rotatably connected with the pawl center shaft 127, and the pawl lever 128 is fixedly connected with the pawl center shaft 127 and corresponds to the second elastic member in the rebound damping mechanism, so as to transmit the torque of the second elastic member to the pawl center shaft 127.

In some embodiments, by providing the spline 129 at one end of the central shaft 127 (the end away from the inner wall of the bottom wall) and the key slot 1251 corresponding to the spline 129 at the base of the pawl latch 121, the pawl latch 121 and the pawl central shaft 127 are brought into abutment by the abutment of the spline 129 and the key slot 1251, such that rotation of the pawl latch causes the pawl central shaft 127 to rotate, i.e., the pawl latch 121 is rotationally coupled coaxially with the pawl central shaft 127.

In some embodiments, the rebound damping mechanism employs a coaxially disposed rotary damping bumper 142 and a second resilient member, such as a torsion spring 132, specifically, by providing a key slot 1251 (specifically, the key slot may communicate with the key slot corresponding to the pawl center axis 127) at a side of the base of the pawl latch 121 corresponding to the rotary damping bumper 142, a splined rotary head 1422 of the rotary damping bumper 142 abuts the key slot 1251 at the side of the base of the pawl latch 121 corresponding to the rotary damping bumper (such that the pawl latch 121 is rotatable relative to the rotary damping bumper 142, i.e., it is rotationally coupled to the rotary damping bumper 142), and the fixed end of the rotary damping bumper 142 is disposed inside a damping bumper mount 191 on the outer cap 190 (see FIG. 8), such that when the pawl latch is rotated (e.g., pushed by the pull-out lead angle 1111 of the ratchet), the splined rotating head 1422 of the rotary damper bumper 142 is rotated, and the rotary damper bumper 142 provides a damping force to the pawl latch 121.

In some embodiments, referring to fig. 9, the torsion spring 132 is disposed around the pawl central shaft 127, and a first torsion arm 1321 thereof abuts against the pawl driver 128 fixedly connected to the pawl central shaft 127, and a second torsion arm 1322 abuts against an inner wall of the base 200 (i.e., a second elastic member corresponds to the pawl central shaft 127 and the pawl driver 128, respectively). Due to the pre-tightening force, the pawl lever 128 transmits the torque of the torsion spring 132 to the pawl center shaft 127 and from the pawl center shaft 127 to the pawl latch 121, i.e., the pawl latch 121 is always subjected to a counterclockwise rotation torque. When any one of the ratchet teeth on the ratchet wheel 111 pushes the pawl latch 121 outward, so that the pawl latch 121 rotates clockwise, the pawl latch 121 rotates the pawl center shaft 127 clockwise, and accordingly, the pawl center shaft 127 further compresses the torsion spring 132 via the pawl driver 128 to avoid the outward pushing movement of the pawl latch 121. That is, the force of the torsion spring 132 acting on the pawl lever 128 is transmitted to the pawl latch 121 through the pawl central shaft 127, and since the key groove 1251 on the pawl latch 121 is abutted to the spline rotating end 1422 on the rotary damping bumper 142, when the pawl latch 121 performs the outward-pushing and inward-releasing motion, the damping force generated by the rotary damping bumper 142 is applied, so that the downward releasing speed of the pawl latch 121 is delayed, a time-delay effect is achieved, and the time-delay self-locking is realized.

In some embodiments, for the purpose of force balance, ratchet gears 111 may be disposed on both the front and rear sides of the winding roll 110, and the installation manner is the same as that of the first embodiment. Correspondingly, the time delay pawl 120 adopts two pawl latch teeth 121 arranged side by side to match with the ratchets on the front and back sides of the winding roll 110, correspondingly, referring to fig. 7 and 8, two ends of the pawl central shaft 127 are respectively provided with a spline 129, and the bases of the two pawl latch teeth 121 are respectively provided with a key slot 1251 corresponding to the spline 129, that is, the two pawl latch teeth 121 are respectively butted with two ends of the central shaft 127 through the spline 129 and the key slot 1251 (while the base of the pawl latch teeth corresponding to the ratchet wheel on the outer side of the winding roll is also provided with a key slot corresponding to the rotary damping buffer 142 to match with the rotary damping buffer 142), so that the winding roll has more uniform stress characteristics when being locked and bearing; and only the base part of the pawl latch corresponding to the ratchet wheel on the outer side of the winding roll is also provided with a key groove corresponding to the spline rotating end of the rotary damping buffer so as to be matched with the rotary damping buffer.

In some embodiments, the pull wire 160 is made of steel wire, and is wound several turns in the wire groove 112 and then extended to the outside of the device through the wire outlet 206 of the base 200 by wedging the end 1621 of the steel wire at the fixed end thereof into the wire end fixing hole 116 (see fig. 8) in the wire groove of the winding roll 110.

EXAMPLE III

In practical application scenarios, the length of the pull wire is usually limited, and because the pull wire can be automatically retracted by the automatic retraction device under the action of the coil spring, all the pulled pull wire can be retracted into the automatic wire winding device, only the free end of the pull wire is left (i.e. the pull wire is completely retracted), or only a small part of the pull wire is pulled out, i.e. the wire winding mechanism returns to the initial state. In this case, the end 1212 of the pawl latch 121 stays in a different position and two different situations will occur.

The first method comprises the following steps: if this happens, as shown in FIG. 6The end 1212 of the pawl latch 121 rests on the lead edge of the ratchet tooth's lead angle 1111, or, as shown in FIG. 5, if the ratchet tooth's lead angle 1112 is now resting on the lead surface 1211 of the pawl latch 121 (where the end 1212 of the pawl latch 121 is located at the distal-most end), i.e., the distance r between the end 1212 of the pawl latch 121 and the center/circle of the ratchet wheel_PGreater than the distance r between the pull-out external lead angle 1111 and the center/circle center of the ratchet wheel_R(i.e. r)_P>r_R) Therefore, even if the pull wire cannot be further retracted, the end of the pawl latch is far away from the deadlocking tooth slot 113 of the ratchet tooth at this time, and does not contact the inner edge 1115 (i.e. the edge of the ratchet wheel) of the deadlocking tooth slot, i.e. the end of the pawl latch is currently located in the unlocking area, i.e. the self-locking mechanism is in the unlocking state, so the pull wire can be arbitrarily pulled out.

And the second method comprises the following steps: if the end 1212 of the pawl latch 121 now rests on the edge of the ratchet wheel between two ratchet teeth, i.e. the inner edge 1115 of the deadlocking groove of one of the ratchet teeth, or, referring to fig. 4, if the end 1212 of the pawl latch 121 now has wedged into the deadlocking groove 113 of a ratchet tooth, i.e. the distance r between the end 1212 of the pawl latch 121 and the ratchet wheel center/circle center_PLess than the distance r between the pull-out external lead angle 1111 and the ratchet wheel center/circle center_R(i.e. r)_P<r_R) Therefore, when the pawl latch is engaged with the ratchet under the action of the linear damper and the linear adjusting spring or the rotary damper and the torsion spring to self-lock the pulling direction of the winding roll, the self-locking cannot be released on the premise that the winding roll cannot be further retracted, namely, the pulling direction is always in a dead lock state, so that the pulling line cannot be pulled out at will in an initial state (namely, all pulled pulling lines are retracted and only the free end of the pulling line is reserved (namely, the pulling line is not pulled out) or only a small part of the pulling lines are pulled out).

In order to avoid the second situation described above, i.e., to avoid the fact that the wire cannot be arbitrarily pulled out in the initial state, the present invention provides another exemplary embodiment of an automatic wire winding device in which the wire can be freely stretched. The automatic wire winding device of this embodiment includes each component in the first or second embodiment, and the same reference numerals are used for the same components, and the working principle of each component is the same, which is not described again here. Differently, the automatic wire winding device of the present embodiment further includes a position integrating mechanism 21 installed in the base 200, the position integrating mechanism 21 corresponds to the wire winding mechanism and the time-delay self-locking mechanism, respectively, and the position of the working piece in the position integrating mechanism is determined by the thickness/length of the stay wire wound by the wire winding disc in the wire winding mechanism;

when the thickness of the stay wire wound on the wire winding disc in the wire winding mechanism is equal to or larger than a preset thickness threshold value, or when the length of the stay wire wound on the wire winding disc is equal to or larger than a preset length threshold value, the position integrating mechanism always places the pawl latch of the delay pawl of the delay self-locking mechanism in an unlocking area, so that the wire pulling direction of the wire winding mechanism is always unlocked, and the stay wire can be pulled out or retracted randomly.

In some embodiments, for a flat or strip-shaped wire having a certain width, such as a flat ribbon, the thickness of the wire wound on the winding roll is the sum of the thicknesses of the turns of the wire wound on the winding roll (i.e., the cumulative value of the thicknesses of the turns of the wire) and the length of the turns of the wire wound on the winding roll (i.e., the cumulative value of the lengths of the turns of the wire). Because, when the radius/diameter of the wire grooves of the winding roll is determined, it is natural to know the length of each loop of the wire on the winding roll and also to know the sum of the lengths of the wound wires on the winding roll.

In some embodiments, for a wire, such as steel wire, the length of the wire wound on the spool is the sum of the lengths of each turn of the wire wound on the wire groove of the spool (i.e., the cumulative value of the lengths of each turn of the wire in all turns). Usually, the wire is pulled out for a length of one turn (or one turn), the spool rotates one turn in the pulling direction and the rotation angle is 360 °, so here the length wound on the spool can also be expressed as the number of turns or the total angle of rotation of the spool from the initial position. Correspondingly, when the number of turns of the winding roll is smaller than a preset number of turns threshold or the total angle of rotation is smaller than a preset rotation angle threshold, the position integrating mechanism enables the pawl latch of the time-delay self-locking mechanism to be always arranged in an unlocking area so as to enable the pulling-out direction of the winding mechanism to be always kept in an unlocking state. At this time, the wire can be arbitrarily pulled out.

The number of turns of the winding roll is the total number of turns of the winding roll from the initial position (i.e. the cumulative value of one turn of the winding roll) under the action of the pull wire, or the difference between the total number of turns of the winding roll in the pull-out direction and the total number of turns of the winding roll in the retraction direction. The initial position is the position of the winding roll in the initial state. For example, when the spool is rotated in the pull-out direction (clockwise in fig. 12 a) from the initial position by the pull-out wire for n1, the total number of turns of the spool is n1, and the corresponding rotation angle is 360 ° for each rotation or revolution of the spool, the total rotation angle of the spool is 360 ° multiplied by n 1; after a period of time, when the wire is withdrawn, the number of turns of the wire winding disc in the withdrawing direction is n2, at the moment, the total number of turns of the wire winding disc is n1-n2(n2 is not more than n1), and the total angle of rotation is 360 degrees x n1-360 degrees x n2, namely the difference between the angle of rotation of the wire winding disc in the withdrawing direction and the angle of rotation of the wire winding disc in the withdrawing direction.

In some embodiments, referring to fig. 10, the position integrating mechanism comprises a roller mechanism mounted on the time-delay self-locking mechanism, the roller mechanism corresponding to the slot of the winding disc in the winding mechanism; specifically, the roller mechanism includes: a roller bracket 220 fixedly provided on the delay pawl of the delay mechanism (e.g., fixedly provided between two pawl teeth 121 of the delay pawl 120), and a thickness measuring roller 210 rotatably connected to the roller bracket 220 through a rotating shaft, wherein the thickness measuring roller 210 corresponds to the wire slot 112 of the wire winding disc 110 in the wire winding mechanism 11 and is rotatable on the roller bracket as the wire 160 wound in the wire slot 112 is drawn out or retracted.

In some embodiments, referring to fig. 10, the central axis I1 of the roller bracket 220 is at an angle α (e.g., an acute angle of 5 ° -45 °) from the projection of the central axis I2 of the pawl latch 121 onto a vertical plane. When the pull wire is completely pulled out or only a small part of the pull wire is remained, namely the pull wire on the winding roll is very thin, the thickness measuring roller can not contact the pull wire due to the existence of the included angle. And in the process of recovering the stay wire, the thickness of the stay wire 160 on the winding roll gradually becomes thicker, and when the thickness reaches a certain thickness, under the combined action of the linear damping buffer and the first elastic part, the thickness measuring roller is attached to the outermost ring of the stay wire on the winding roll and rotates along with the continuous recovery of the stay wire.

As the pulling wire continues to be withdrawn, the thickness of the pulling wire on the winding roll further increases, and at this time, the pulling wire will give a certain force F to the thickness measuring roller, so that the thickness measuring roller 210 drives the delay pawl 120 to rotate together in the direction away from the ratchet wheel (as shown by the clockwise arrow O3 in fig. 11), so that the distance r between the end 1212 of the pawl latch 121 and the center/circle center of the ratchet wheel is made_PAnd are becoming larger and larger.

The position of the thickness measuring roller 210 is determined by the thickness of the wire wound by the wire winding disc in the wire winding mechanism, and when the thickness of the wire 160 wound in the wire slot 112 reaches a preset thickness threshold, the thickness measuring roller 210 forcibly pushes the end 1212 of the pawl latch 121 into the unlocking region through the roller bracket (i.e., the thickness measuring roller 210 serves as a workpiece for pushing the delay pawl), and until the wire 160 is completely retracted, the pawl latch 121 is always kept in the unlocking region, i.e., the distance r from the end 1212 of the pawl latch 121 to the center/circle center of the ratchet wheel is always kept_PGreater than the distance r from the external push lead angle 1111 of the ratchet on the ratchet wheel to the center/circle center_R。

At this time, even if the linear damper and the spring act together on the delay pawl, the delay pawl cannot enter the self-locking area to engage with the ratchet teeth on the ratchet wheel. That is, at this time, no matter the wire is pulled out at the first preset speed and is paused for a period of time, or is continuously pulled out at the second preset speed for a period of time, as long as the thickness of the wire on the winding roll is still greater than or equal to the preset thickness threshold value/preset length threshold value, the time-delay self-locking mechanism cannot be self-locked, and the pulling-out direction of the natural winding roll cannot be locked.

The preset thickness threshold is a critical thickness value of the wire wound on the winding roll when the end 1212 of the pawl latch 121 just enters the unlocking area (for example, the end 1212 just crosses the dotted line in fig. 5) in the process that the thickness measuring roller drives the delay pawl to rotate in the direction away from the ratchet wheel. Specifically, the predetermined thickness threshold is determined by the size of the included angle α. For example, the included angle α may be increased, so that the thickness measuring roller forcibly pushes the pawl latch into the unlocking area under the action of the pulling wire only when the pulling wire is completely retracted (i.e. the preset thickness threshold is the maximum thickness of the pulling wire wound on the winding roll); or when the pull wire is withdrawn for only one circle or two circles or less (namely most of the pull wire is withdrawn), the thickness measuring roller pushes the pawl latch into the unlocking area forcibly under the action of the pull wire; of course, the included angle α may also be reduced, so that when the pull wire is retracted by half or one third, the thickness measuring roller forcibly pushes the pawl latch into the unlocking area under the action of the pull wire (i.e. the preset thickness threshold is one half or one third of the maximum thickness), which may be specifically adjusted according to actual needs.

As can be seen from the above description, as long as the thickness of the wire (e.g., ribbon) wound on the spool is greater than or equal to the predetermined thickness threshold, the distance r from the end 1212 of the pawl tooth 121 to the center of the ratchet wheel is_PIs always greater than the distance r between the pull-out external push angle 1111 of the ratchet and the center/circle center of the ratchet_RI.e. r_P>r_RI.e. the thickness measuring roller always places the end 1212 of the ratchet tooth in the unlocking zone, thus ensuring that the wire on the take-up reel 110 can be pulled out freely and that the measuring roller 210 is always in this position as long as the wire is not pulled out, i.e. r is always present as long as the wire is not pulled out_P>r_RTherefore, in the initial state, the time-delay self-locking mechanism is always subjected to the outward pushing action of the measuring roller, so that the pulling direction is unlocked, and the pull wire can be pulled out randomly.

When the thickness of the winding wire on the winding roll is less than the preset thickness threshold, the distance r between the end 1212 of the pawl latch 121 and the center of the ratchet wheel_PPossibly smaller than the pull-out lead angle 1111 of the ratchet and the ratchet center/circle centerDistance r_R. At the moment, the time delay pawl is enabled, namely, enters a working state, so that when the pull wire is pulled out at a first preset speed and stops for a period of time or is continuously pulled out at a second preset speed for a period of time, the time delay self-locking mechanism is locked. At this time, the end 1212 of the pawl latch may be completely wedged into the dead locking slot 1113 of the ratchet (however, since there is too little remaining pulling wire on the winding roll, the thickness measuring roller cannot touch the outermost ring of the pulling wire on the winding roll); it is also possible that the end 1212 of the pawl latch is just below the pull-out push-out angle 1111 of the ratchet, although the end 1212 of the pawl latch cannot be completely wedged into the dead-locking notch 1113, but the spool can be locked at this time, i.e. the delayed self-locking mechanism can be self-locked, and at this time, the thickness measuring roller 210 may touch the outermost ring of the pull wire 160, but because of being in the self-locking state, the pull wire cannot be pulled out, and accordingly, the thickness measuring roller cannot rotate further inwards/anticlockwise.

Further, referring to fig. 11, in the initial state, the delay pawl 160 (in the initial state) is pushed out of the inner edge of the ratchet/the locking tooth groove 113 by the measuring roller 210 and is always maintained (r) by adjusting the thickness of the wire 160 wound in the wire groove of the winding roll 110_P>r_R). Therefore, the drawing direction of the winding roll 110 is not self-locked, and the wire 160 can be freely drawn. However, as the pulling wire 160 is pulled out, the number of turns of the winding wire 160 on the winding roll 110 is gradually reduced, the winding thickness of the pulling wire is gradually reduced until the winding thickness is smaller than the preset thickness threshold, the delay pawl 120 is not ejected out by the thickness measuring roller 210, and after the pulling-out or retracting movement is stopped, the delay pawl 120 is gradually lowered into the dead locking tooth slot 1113 of the ratchet under the action of the linear damping buffer 141 and the first elastic member 131, so that the delay self-locking is realized.

In this embodiment, the thickness of the wire wound in the wire slot is measured by using the thickness measuring roller 210, that is, the winding thickness of the wire 160 is integrated, and when the integrated value is greater than a certain degree (for example, the thickness of the flat belt reaches a preset thickness threshold), the delay pawl is placed in the unlocking area (for example, the end 1212 of the pawl latch is forced to be pushed out of the dead latch 1113 and into the area outside the broken line), so that the delay self-locking mechanism enters the non-working state.

In other embodiments, referring to fig. 12a and 12b, the position integrating mechanism comprises: a rotary shift lever 230 and a spiral chute 182, wherein the spiral chute 182 is coaxially and rotatably connected with the winding roll 110, the rotary shift lever 230 is rotatably mounted in the base 200 relative to the base 200, and a pawl push-out portion 234 is disposed at a free end of the rotary shift lever 230 corresponding to one side of the delay pawl, so that the rotary shift lever 230 serves as a working member for pushing the delay pawl, wherein the pawl push-out portion 234 is a working portion of the working member.

When the length of the wire wound on the spool is greater than or equal to the predetermined length threshold, the free end of the rotary lever 230 is located at the outermost circumference (i.e., the outermost edge) of the spiral sliding groove 182, and the pawl ejecting portion 234 of the rotary lever 230 always positions the end 1212 of the pawl latch 121 in the unlocking region.

In some embodiments, referring to fig. 13 and 14, a scroll sliding groove 182 is provided in mirror symmetry at an outer side of the coil spring cover 180 (i.e., a side corresponding to the outer cover 190) and a rear side of the winding roll 110 (i.e., a side corresponding to the rear wall of the base 200); the rotary shift lever 230 includes a connecting rod 232 and connecting shift levers 233 fixedly connected to two ends of the connecting rod 232, wherein the connecting rod 232 is mounted on the third fixing shaft 207 of the base 200, and two opposite inner sides of the connecting shift levers 233 are respectively provided with a sliding slot protrusion 231 (i.e. a free end of the rotary shift lever is provided with a sliding slot protrusion corresponding to one side of the spiral sliding slot). When the rotary lever 230 is mounted on the third fixing shaft 207, the two link levers 233 have their protruding points 231 located in the spiral chutes of the coil spring cover 180 and the spiral chutes on the rear side of the spool 110, respectively, and when the cable is pulled out or retracted, the spool 110 drives the spiral chutes 182 to rotate clockwise or counterclockwise, and the protruding points 231 slide along the spiral chutes and gradually approach the center of the spiral chutes (e.g., gradually slide from the outermost ring to the innermost ring, see fig. 12a and 12b), or gradually move away from the center of the spiral chutes (e.g., gradually slide from the innermost ring to the outermost ring, see fig. 12a and 12b), and accordingly, the rotary lever 230 gradually approaches or moves away (i.e., swings clockwise or counterclockwise) toward or away from the first fixing shaft 204 (or the center of the spiral chutes) under the driving of the protruding points 231.

When the length of the pulling wire wound on the winding roll is greater than or equal to the preset length threshold, or when the number of turns of the winding roll is smaller than the preset number of turns threshold/the total angle of rotation is smaller than the preset rotation angle threshold, the chute salient point 231 on the rotary shift lever 230 is located at the outermost edge of the spiral chute 182 (i.e. at the outermost turn of the spiral chute 182, see fig. 12b), and the pawl push-out portion 234 on the side of the connecting shift lever 233 corresponding to the delay pawl 120 abuts against the lever collision point 1210 on the delay pawl 121, so that the delay pawl 120 is pushed out of the self-locking region, i.e. into the unlocking region (see fig. 12a and 12b), and the distance between the end 1212 of the pawl latch tooth of the delay pawl and the center/center of the ratchet 111 is always greater than the distance between the pull-out lead angle 1111 on the ratchet and the center/center of the ratchet 111 when the pulling wire is not pulled out (i.e. the pulling wire is completely or mostly pulled back), i.e., the end 1212 of the pawl latch is always disposed within the unlocking zone.

In some embodiments, the predetermined length threshold is a threshold length of wire wound on the take up spool when the end 1212 of the pawl latch 121 has just entered the unlatching area (e.g., the end 1212 has just crossed the dashed line in fig. 5) during rotation of the delay pawl in the ratchet away direction by the cam nub 231 of the rotary lever 230 abutting the lever strike 1210 of the delay pawl 121. The preset threshold of the number of turns is the number of turns of the winding roll when the length of the stay wire wound on the winding roll is equal to the preset threshold of the length; correspondingly, the preset rotation angle threshold is the sum of the rotation angles of the winding roll when the length of the stay wire wound on the winding roll is equal to the preset length threshold.

The preset length threshold is determined by the position between the outer edge of the spiral sliding groove 182, the sliding groove salient point 231 on the rotary shift lever 230, the pawl push-out portion 234, and the shift lever collision point 1252 on the delay pawl 120, for example, when the pull wire is pulled out by half or one third (i.e. half or two thirds of the maximum length of the pull wire on the winding reel is the preset length), the sliding groove salient point 231 slides to the outermost circle of the spiral sliding groove 182.

As can be seen from the above description, by properly adjusting the positions of the outer edge of the spiral chute 182, the chute protrusions 231 of the rotary lever 230, the pawl ejecting portion 234, and the lever bump 1252 of the delay pawl 120, it can be ensured that when the length of the wire wound on the spool reaches (i.e. is equal to or greater than the predetermined length threshold), the outward-pushing height of the end 1212 of the pawl tooth 121 is higher than the outward-pushing angle 1111 of the ratchet teeth on the spool 110 (i.e. r is greater than or equal to the predetermined length threshold)_P>r_R) So that the delay pawl 120 cannot lock the spool 110 and the wire (e.g., a wire rope) can be freely drawn out. As the wire is pulled out, the spool is driven to rotate clockwise, and the sliding slot salient point 231 of the rotary shift lever 230 gradually moves towards the inner layer vortex sliding slot in the rotation process of the vortex sliding slot 182, so that the distance between the pawl push-out portion 234 and the rotation center of the spool gradually decreases. And when the length of the stay wire wound on the winding roll is smaller than a preset length threshold value, the delay pawl is released to the self-locking area, and at the moment, when the stay wire stops being pulled out quickly, the delay pawl is matched with a ratchet wheel on the ratchet wheel, so that the self-locking in the pulling-out direction is realized.

In this embodiment, the vortex-shaped sliding grooves and the rotating shift lever are symmetrically arranged, so that the stress on the rotating shift lever and the delay pawl is more uniform, and certainly, the delay pawl, the vortex-shaped sliding grooves and the shift lever can be arranged on a single side, and the working principle of the delay pawl, the vortex-shaped sliding grooves and the shift lever is the same as that of the symmetrical arrangement.

Of course, in addition to the measuring roller 210 and the spiral chute 182, the position integrating mechanism may also adopt other mechanisms capable of determining the thickness/length of the wire drawn on the winding roll, such as a spiral slide, a thread groove, a speed reducing mechanism composed of a speed reducing gear, and the like. For example, a multi-stage gear reduction mechanism is directly arranged between the winding reel and the delay pawl, and the rotary deflector rod is arranged on the last stage gear, when the length of the pull wire wound on the winding reel is equal to or greater than a preset length threshold, the pawl latch of the delay pawl is pushed into the unlocking area by the position integrating mechanism and is always arranged in the unlocking area (as shown in the area outside the dotted line in fig. 5 and 6, namely, the distance from the center of the ratchet wheel is largeAt r is_RArea) to avoid self-locking at initial state; when the winding roll rotates clockwise from the initial state, the rotating rod at the extreme end (namely on the gear of the last speed reducer) can gradually release the delay pawl into a self-locking area (such as an area between a dotted line and the inner edge of the ratchet wheel edge/locking tooth groove in fig. 5 and 6) under the action of the gears of the speed reducing mechanisms of a plurality of stages. Of course, besides the multi-stage gears, planetary gear trains, threaded screws, harmonic reducers, and the like may be used as the reduction gear.

Of course, the self-locking mechanism in this embodiment may not adopt the above-mentioned time-delay self-locking mechanism, and may also adopt a self-locking mechanism including a ratchet and a pawl, and only needs to satisfy: when the thickness of the stay wire wound in the wire winding mechanism is larger than or equal to a preset thickness threshold value, or when the length of the stay wire wound in the wire winding mechanism is larger than or equal to a preset length threshold value, the working piece in the position integrating mechanism can always place the pawl of the self-locking mechanism in the unlocking area.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. The utility model provides an automatic spiral device of time delay auto-lock, is used for twining the spiral mechanism of acting as go-between including installing in the base, its characterized in that still includes: the time delay self-locking mechanism is arranged in the base and corresponds to the wire winding mechanism;

when the pull wire is pulled out of the wire winding mechanism at a first preset speed and stops for a first preset time length, the time-delay self-locking mechanism is matched with the wire winding mechanism so as to self-lock the pulling-out direction of the wire winding mechanism; wherein the first preset speed is greater than a preset pull-out speed threshold.

2. The automatic line reeling device according to claim 1, wherein the time-delay self-locking mechanism cooperates with the line reeling mechanism to self-lock a direction of the line reeling mechanism when the wire is drawn out of the line reeling mechanism at a second preset speed for a second preset time; wherein the second preset speed is less than or equal to the preset pull-out speed threshold.

3. The automatic line reeling device of claim 2, wherein the time-delay self-locking mechanism comprises: the damping buffer pawl mechanism can be meshed with the ratchet on the ratchet wheel;

when the pull wire is pulled out of the winding mechanism at a first preset speed and stops for a first preset time length, or when the pull wire is pulled out of the winding mechanism at a second preset speed and continuously pulled out for a second preset time length, a delay pawl in the damping buffer pawl mechanism is meshed with the ratchet teeth so as to self-lock the pulling-out direction of the winding roll.

4. The automatic line reeling device of claim 3, wherein the damping buffer pawl mechanism comprises: the time delay pawl can be meshed with the ratchet, and the rebound damping mechanism is arranged in the base in a manner of rotating relative to the base, and is connected with the time delay pawl in a sliding or coaxial rotating manner; the rebound damping mechanism acts on the delay pawl to reduce the speed at which the delay pawl engages the ratchet teeth during the pull-out of the pull wire, thereby prolonging the time at which the delay pawl engages the ratchet teeth.

5. The automatic line reeling device according to claim 3, wherein the damping buffer pawl mechanism includes: a delay pawl engageable with the ratchet teeth, and a rebound damping mechanism and a first elastic member, wherein the delay pawl is rotatably mounted in the base, and the rebound damping mechanism and the first elastic member are mounted in the base and are oppositely disposed on both sides of the delay pawl;

the rebound damping mechanism and the first elastic member act together on the delay pawl to reduce the speed at which the delay pawl engages with the ratchet teeth during the pulling-out of the wire, thereby prolonging the time at which the delay pawl engages with the ratchet teeth.

6. The automatic line reeling device according to claim 4 or 5, wherein the rebound damping structure comprises: a linear damper having a resilient force and slidably connected/in point contact with the delay pawl; or, the rebound damping structure comprises: and a rotary damper and a second elastic member coaxially disposed with the delay pawl.

7. The automatic line reeling device according to claim 5, wherein the delay pawl includes: the pawl shifting block is arranged between the rebound damping mechanism and the first elastic piece, and at least one pawl clamping tooth capable of being meshed with the ratchet; the pawl shifting block is installed in the base in a mode of rotating relative to the base, and the pawl latch is coaxially and rotatably connected with the pawl shifting block.

8. The automatic line reeling device according to claim 6, wherein the delay pawl includes: the ratchet clamping teeth can be meshed with the ratchets on the ratchet wheel, the central pawl shaft is coaxially arranged with the second elastic piece, and the pawl driving lever corresponds to the second elastic piece; the pawl driving lever is fixedly connected with the pawl central shaft, and the pawl central shaft is installed in the base in a manner of rotating relative to the base and is coaxially and rotatably connected with the pawl latch.

9. The automatic line reeling device according to claim 8, wherein the second elastic member is fitted around the pawl center shaft, and a first torsion arm of the second elastic member abuts against the pawl lever, and a second torsion arm of the second elastic member abuts against an inner wall of the base, so that the torque of the second elastic member is transmitted to the pawl center shaft through the pawl lever.

10. An exoskeleton comprising an automatic line reeling device as claimed in any one of claims 1 to 9.