CN114634068B

CN114634068B - Automatic time-delay self-locking wire winding device and exoskeleton

Info

Publication number: CN114634068B
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: 2024-02-27
Anticipated expiration: 2040-12-16
Also published as: CN114634068A

Abstract

The invention discloses a delay self-locking automatic wire coiling device, which is characterized in that a delay self-locking mechanism which can be matched with a wire coiling mechanism is arranged, so that when a corresponding length of a wire is pulled out from the wire coiling mechanism at a first preset speed and is stopped for a first preset time, the delay self-locking mechanism self-locks the pulling-out direction of the wire coiling mechanism, and the automatic wire coiling device can realize arbitrary retraction, can be pulled out arbitrarily when the wire is pulled out rapidly, and can stop the pulling-out direction to be self-locked after a moment. The automatic winding device is suitable for application scenes such as upper limb assisting exoskeleton, slings for hanging 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 also provides an exoskeleton with the delay self-locking automatic winding device.

Description

Automatic time-delay self-locking wire winding device and exoskeleton

Technical Field

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

Background

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can be used for arbitrarily elongating the stay wire wound in the automatic winding mechanism when the stay wire is withdrawn under the tension of the coil spring, and is locked at a specific position through a pawl so as to prevent the withdrawn stay wire from being fully withdrawn, such as an automatic telescopic air drum, an automatic telescopic power wire, an automatic winding USB and the like; the other is self-locking when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

However, in some use scenarios, not only is a device required that can be withdrawn at will, but also is free to move (i.e., can be pulled out at will) when pulled out at a quick speed, but automatically pulls out the lock after a certain length of pullout and a pause. For example, when designing an upper limb power-assisted exoskeleton with a wire pulling mechanism, in order to help a user bear the weight of carrying goods in front of chest, and at the same time allow the user to lift or lower the height of the weight when needed, and in order to avoid the need for the user to carry the weight when needed, and also to press a button by hand, it is necessary to provide a simple power assistance and operation mode, i.e. to design a rope mechanism capable of automatically stretching, the main body of which is placed on the shoulder or back of a human body, the rope is placed in the chest position after passing around the head or shoulder of the human body, the user wears modularized carrying hooks or gloves with both hands, and when want to put down the arm to pick up the goods, only lifts the hooks appropriately, and puts down quickly, the rope follows the extension. When the user picks up the goods, the hook can be lifted to the handy position, the rope can be locked and pulled out after stopping for a moment, and at the moment, the user can transmit the weight of the weight to the shoulder and the waist through the rope by using the locked rope without providing continuous force by the arm to maintain the height of the weight. When a user wants to put down the goods, the user can put down the goods only by slightly lifting the goods and then pulling out the locking mechanism in a telescopic way.

However, the automatic wire winding device which can be arbitrarily withdrawn and rapidly pulled out and can be freely moved, and can be automatically pulled out to be locked after a moment of stopping is not found at present. Therefore, there is a need for a device that can be freely withdrawn and rapidly pulled out, and automatically locks the pulling direction after stopping for a moment, so as to be suitable for the upper limb assisting exoskeleton and the application situations such as slings for hanging goods in factories, wherein the slings need to adjust the height of the goods.

Disclosure of Invention

The invention provides a delay self-locking automatic wire coiling device, which can partially solve the technical problems, so that a stay wire in the automatic wire coiling device can be freely pulled out when being pulled out rapidly, and is automatically locked after a moment of stopping, namely, the delay self-locking of the pulling direction is realized.

In order to solve the problems, the invention provides an 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 coiling a stay wire, and the time delay self-locking mechanism is arranged in the base and corresponds to the wire coiling mechanism; when the stay wire is pulled out of the wire coiling mechanism at a first preset speed and is stopped for a first preset time, the delay self-locking mechanism is matched with the wire coiling mechanism to self-lock the pulling-out direction of the wire coiling 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 of the wire winding mechanism at a second preset speed for a second preset period of time, the delay self-locking mechanism cooperates with the wire winding mechanism to self-lock a pulling direction of the wire winding mechanism; wherein the second preset speed is less than or equal to the preset pull-out speed threshold.

In one exemplary embodiment of the present disclosure, the delay self-locking mechanism includes: at least one ratchet wheel coaxially and rotatably connected with a winding roll in the winding mechanism, and a damping buffer pawl mechanism capable of being meshed with a ratchet wheel on the ratchet wheel; when the stay wire is pulled out of the winding mechanism at a first preset speed and is stopped for a first preset time period, or when the stay wire is pulled out of the winding mechanism at a second preset speed and is continuously pulled out for a second preset time period, a delay pawl in the damping buffer pawl mechanism is meshed with the ratchet teeth to self-lock the pulling direction of the winding roll.

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

In an exemplary embodiment of the present disclosure, the ratchet is provided with a plurality of ratchet teeth with pull-out push-out guide angles uniformly in a circumferential direction.

In one exemplary embodiment of the present disclosure, the damping buffer pawl mechanism includes: the delay pawl can be meshed with the ratchet, and the rebound damping mechanism is arranged in the base in a manner of being rotatable relative to the base, and is arranged in the base and is in sliding connection or coaxial rotation connection with the delay pawl; during the pulling out of the pulling wire, the rebound damping mechanism acts on the delay pawl to reduce the speed of the delay pawl meshed with the ratchet teeth, thereby prolonging the time of the delay pawl meshed with the ratchet teeth.

In one exemplary embodiment of the present disclosure, the damping buffer pawl mechanism includes: the delay pawl can be meshed with the ratchet, the rebound damping mechanism and the first elastic piece are installed in the base in a mode of being rotatable relative to the base, and the rebound damping mechanism and the first elastic piece are installed in the base and are oppositely arranged on two sides of the delay pawl; the rebound damping mechanism and the first elastic member act together on the delay pawl during the pulling wire is pulled out to reduce the speed of the delay pawl engaged with the ratchet teeth, thereby prolonging the time of the delay pawl engaged with the ratchet teeth.

In one exemplary embodiment of the present disclosure, the rebound damping structure includes: a linear damper having a resilient force and slidably coupled/point-contacted with the delay pawl.

In one exemplary embodiment of the present disclosure, the rebound damping structure includes: and the rotary damper and the second elastic piece are coaxially arranged with the delay pawl.

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

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

In one exemplary embodiment of the present disclosure, the delay pawl includes: a pawl dial disposed between the rebound damping mechanism and the first resilient member, and at least one pawl tooth engageable with the ratchet teeth; the pawl shifting block is installed in the base in a mode of being rotatable relative to the base, and the pawl clamping teeth are coaxially and rotatably connected with the pawl shifting block.

In one exemplary embodiment of the present disclosure, the delay pawl includes: a pawl latch engageable with a ratchet on the ratchet, a pawl center shaft coaxially mounted with the second resilient member, and a pawl lever corresponding to the second resilient member; the pawl shifting 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 clamping teeth.

In an exemplary embodiment of the present disclosure, the second elastic member is sleeved on the pawl central shaft, 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 the 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 coiling a stay wire, and the time delay self-locking mechanism is arranged in the base and corresponds to the wire coiling mechanism; when the stay wire is pulled out of the wire coiling mechanism at a second preset speed and continuously pulled out for a second preset time, the delay self-locking mechanism is matched with the wire coiling mechanism so as to self-lock the pulling-out direction of the wire coiling mechanism; wherein the second preset speed is less than or equal to the preset pull-out speed threshold. The time delay self-locking mechanism can also adopt the time delay self-locking mechanism.

On the other hand, the invention also provides an exoskeleton, which comprises the automatic winding device. The beneficial effects are that:

according to the invention, the delay self-locking mechanism is arranged in the automatic winding device, so that the wire wound in the winding mechanism can be pulled out freely when the wire is pulled out rapidly, the pulling-out direction of the winding mechanism is automatically locked after the wire is pulled out for a corresponding length and is stopped for a moment, the purpose of delay self-locking is realized, in particular, the speed of meshing the pawl clamping teeth of the delay pawl with the ratchet teeth on the ratchet wheel is reduced by the combined action of the rebound damping mechanism in the damping pawl mechanism or the rebound damping mechanism and the first elastic piece, so that the meshing time between the delay pawl and the ratchet teeth is prolonged, and the delay self-locking of the pulling-out direction is realized, so that the automatic winding device can be suitable for application scenes such as lifting ropes for lifting goods in factories, and the like, which need to adjust the height of the goods.

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

According to the invention, the position integrating mechanism is arranged and corresponds to the self-locking mechanism (such as a delay self-locking mechanism) and the wire coiling mechanism in the base, and the position of the working piece in the position integrating mechanism is determined according to the thickness/length of the wire coiled in the wire coiling mechanism, so that when the thickness/length of the coiled wire reaches (such as is equal to or greater than) a preset thickness threshold value/a preset length threshold value, the pawl of the self-locking mechanism can be always arranged in an unlocking area through the working piece, even if the wire is mostly or totally retracted, the pawl of the self-locking mechanism is always far away from the locking clamping groove, the situation that the wire cannot be pulled out at will due to self-locking in an initial state is avoided, manual unlocking is naturally not needed, the labor intensity of staff is reduced, and the user experience is improved. Further, when the self-locking mechanism adopts the time-delay self-locking mechanism, the automatic wire coiling device not only can be in an initial state, the wire can be freely stretched/pulled out, but also can realize self-locking in the pulling-out direction after the wire is rapidly pulled out and is stopped for a moment, namely, the time-delay self-locking in the pulling-out direction is realized.

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. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale. It is evident that the figures in the following description are some embodiments of the invention, from which other figures can be obtained, without inventive effort, for a person skilled in the art:

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

fig. 2 is an exploded view showing an embodiment structure of an automatic winding device according to the first exemplary embodiment;

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

FIG. 4 is a schematic view showing an internal structure of an embodiment of a time-lapse, self-locking automatic winding apparatus in a self-locking state according to the first exemplary embodiment;

FIG. 5 is a schematic view of a pull-out push-out guide edge reflecting the rotation of the end of the pawl to a pull-out push-out angle as the wire of FIG. 4 is pulled out;

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

fig. 7 is an exploded view showing an embodiment structure of an automatic winding device according to a second exemplary embodiment;

FIG. 8 is an exploded view of another angle of the construction of an embodiment of an automatic reel apparatus according to the second exemplary embodiment;

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

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

FIG. 11 is a schematic view showing an internal structure of an embodiment of a time-lapse self-locking automatic winding apparatus in an initial state according to a third exemplary embodiment;

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

fig. 14 is an exploded view showing another view of the structure of an embodiment of an automatic winding device according to the fourth exemplary embodiment.

11 is a coiling mechanism, 12 is a delay self-locking mechanism, 110 is a coiling roll, 111 is a ratchet wheel, 112 is a wire slot, 120 is a 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 stay 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 fixed end, 170 is a flat belt fixing pin, 181 is a center through hole, 190 is an outer cover, 203 is a second fixing shaft, 204 is a first fixing shaft, 206 is a wire outlet, 202 is a guide rod, 111a is a current ratchet, 111b is a last ratchet, 111c is a next ratchet, 111d is a last ratchet, 1111 is a pull-out push angle, 1112 is the withdrawal push angle, 1113 is the dead tooth slot, 1115 is the inner edge, 1211 is the push surface, 1212 is the end, 124 is the central shaft hole, 127 is the pawl center shaft, 128 is the pawl lever, 129 is the spline, 1251 is the keyway, 132 is the torsion spring, 142 is the rotary damping buffer, 1621 is the wire end, 191 is the rotary damping buffer fixing seat, 116 is the wire end fixing hole, 1422 is the spline rotary end, 1321 is the first torsion arm, 1322 is the second torsion arm, 210 is the thickness measuring roller, 220 is the roller bracket, 21 is the position integrating mechanism, 1210 is the lever contact point, 182 is the vortex chute, 207 is the third fixed shaft, 230 is the rotary lever, 234 is the pawl push-out part, 231 is the chute bump, 233 is the connecting lever, 232 is the connecting lever

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In this document, suffixes such as "module", "component", or "unit" used to represent elements are used only for facilitating the description of the present invention, and have no particular meaning in themselves. Thus, "module," "component," or "unit" may be used in combination.

Noun paraphrasing:

and (3) pulling wires: "pull wire" as used herein refers to an object of a certain length, flat shape/strip shape in cross section, or circular/annular shape, used in various devices or apparatuses for transmitting force, or connecting members. For example, a stay wire having a flat belt/strip-shaped cross section includes a braid, a rubber band rope, a parallel port communication wire, and the like; the stay wire with the circular cross 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.

Delay self-locking: the term "delay self-locking" as used herein means that when a user makes a first specific action to the delay self-locking winding device, the pulling direction of the delay self-locking winding device is not immediately self-locked, but the pulling direction of the delay self-locking 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 period of time (i.e., a first preset period of time). For example, when the user pulls out the pull wire with a certain length at the first preset speed (the first preset speed is greater than or equal to the preset speed threshold value), the pull direction of the winding drum in the winding mechanism is not immediately self-locked, but is self-locked after a period of time (for example, 3s or 5s, etc.), at this time, when the user pulls out the pull wire again at any pull speed, the user cannot continue pulling out the pull wire from the winding drum. Or, when the user makes a second specific action on the delay self-locking winding device and lasts for a period of time (namely, a second preset duration can be longer than the first preset duration or shorter than or equal to the first preset duration), the pull-out direction of the delay self-locking winding device is self-locking (the pull-back direction can be arbitrarily retracted) on the premise that other conditions are unchanged, the second preset duration threshold is related to the pulled-out speed of the pull wire. For example, when the user pulls out the wire at the second preset speed (the second preset speed is smaller than the preset speed threshold value), the delay pawl gradually rotates and engages with the ratchet on the ratchet wheel in the process of pulling out the wire, so that the pulling direction of the winding roll is self-locking, and at this time, when the user pulls out the wire again at any pulling-out speed, the user cannot continue pulling out the wire from the winding roll.

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

A first preset duration: the "first preset duration" herein refers to a time required for the delay pawl to engage with the ratchet teeth on the ratchet wheel (for example, 3s or 5s, specifically, the duration of the pause may be determined by the forces acting on the delay pawl by the damper buffer and the elastic member, respectively, and the magnitude of the damping force, for example, in some embodiments, the first preset duration threshold is determined by the difference Δf between the push-out force of the linear damper and the compression counter force of the adjusting spring, and the damping magnitude of the linear damper, respectively, and the delay pawl is gradually lowered to a dead state (for example, see fig. 4, in which the difference Δf is smaller than the value of the delay pawl, or the delay pawl is not longer than the dead state, if the difference Δf is smaller than the difference is smaller than the value of the delay pawl).

The second preset duration "herein refers to a duration of time required for the delay pawl to engage with the ratchet teeth on the ratchet wheel when the wire is pulled out at a second preset speed (less than or equal to a preset speed threshold). When the time period is equal to or longer than the time period, the delay pawl is engaged with the ratchet.

Pull-out direction: the "pull-out direction" herein refers to the rotational direction of the spool when the wire is pulled out. For example, the clockwise direction of rotation O1 of the winding reel in fig. 4 (since the ratchet is coaxially arranged with the winding reel, in particular, it may be coaxially mounted, or directly upon fixedly mounting the ratchet on the winding reel, the ratchet thus rotates coaxially with the winding reel).

Retraction direction: the term "retraction direction" as used herein refers to the direction of rotation of the spool as the wire is retracted into the wire groove on the spool. For example, the counterclockwise direction of rotation O2 of the spool in fig. 4.

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 fully retracted), or is pulled out only by a small portion, so that the wire cannot be further retracted.

Unlocking area: herein, the "unlocking region" refers to a state in which the end of the pawl tooth of the pawl in the self-locking mechanism is separated from/far from the dead tooth space of the ratchet (for example, the pawl tooth of the pawl rotates in a direction far from the ratchet under the action of the pulling-out push angle of the ratchet on the ratchet, or is pushed by the position integrating mechanism to make the end of the pawl tooth far from the dead tooth space), and the push-out height of the end of the pawl tooth (for example, the distance r of the end 1212 of the pawl tooth of the delay pawl from the center/circle center of the ratchet _P ) Higher/greater than the pull-out push-out guide angle 1111 of the ratchet (i.e., the distance r of the pull-out push-out guide angle 1111 of the ratchet from the center/circle center of the ratchet) _R ) See the area outside the dashed line in fig. 5. In this unlocking area, the pawl cannot engage with the locking tooth slot of the ratchet, i.e. the pawl cannot lock the spool, no matter whether the wire is pulled out or retracted.

Self-locking region: herein, "self-locking region" refers to the extrapolated height of the end of the pawl tooth of the pawl in the self-locking mechanism (e.g., the distance r from the center/circle of the ratchet of the end 1212 of the pawl tooth of the delay pawl herein) _P ) Less than/equal to the pull-out push-out guide angle of the ratchet (i.e., the distance r of the pull-out push-out guide angle of the ratchet from the center/circle center of the ratchet) _R ) See the area between the broken line (this broken line is a circle centered on the center/center of the ratchet and on the radius of the distance between the pull-out push-out lead angle of the ratchet and the center of the ratchet) to the ratchet edge in fig. 5. In the area, when the pawl latch of the pawl gradually approaches to the locking tooth socket of the ratchet and finally is meshed with the locking tooth socket of the ratchet, the pulling direction of the pawl locking winding drum, namely the self-locking mechanism is in a self-locking state. For example, when the delay pawl herein is under the combined action of a rebound damping mechanism (such as a linear damper, or a rotary damper and a second elastic member), or the rebound damping mechanism and the first elastic member, the pawl teeth of the delay pawl are gradually moved toward the ratchet teeth When the locking tooth groove of the delay pawl is close to and finally meshed with the locking tooth groove of the ratchet, the pulling direction of the delay pawl locking winding drum, namely the delay self-locking mechanism is in a self-locking state (namely the speed of the delay pawl approaching to the locking tooth groove of the ratchet is slowed down/reduced by the combined action of the linear damper, the first elastic piece/the rotary damper and the second elastic piece, so as to achieve the aim of delay self-locking). Of course, if the end of the pawl tooth is disengaged from the locking tooth slot (e.g., the end of the pawl tooth is located between two ratchet teeth or in the unlocking region), the self-locking mechanism is in the unlocked state.

In order to achieve arbitrary retraction in the retraction direction, and at the same time, the device can be pulled out freely when pulled out rapidly (i.e. pulled out at a first preset speed), but can be self-locked in the pulling-out direction after a period of time (such as a first preset time period) is stopped after the rapid pulling out, 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 wire is pulled out of the winding roll at a first preset speed for a corresponding length, and then is stopped for a first preset time, the 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 continuously pulled out for a second preset time period (the second preset time period is equal to or less than or greater than the first preset time period), the time delay self-locking mechanism is matched with the winding mechanism to self-lock the pulling direction of the winding mechanism (the winding roll).

The 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 meshed with a ratchet wheel on the ratchet wheel; when the stay wire is pulled out of the winding mechanism at a first preset speed for a corresponding length and is stopped for a first preset time, or when the stay wire is pulled out of the winding mechanism at a second preset speed for a second preset time, a delay pawl in the damping buffer pawl mechanism is meshed with a ratchet on a ratchet wheel so as to self-lock the pulling direction of the winding roll. Specifically, the damping buffer pawl mechanism includes: a delay pawl engageable with the ratchet, and a rebound damping mechanism (e.g., a linear damper having a rebound force, or a rotary 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, the rebound damping mechanism is mounted in the base and slidably connected with the delay pawl (e.g., the linear damper is slidably connected with the delay pawl by means of a slider hinge pair, etc.), 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); during the pulling of the wire, the rebound damping mechanism acts on the delay pawl to reduce the speed at which the delay pawl engages with the ratchet (see, for example, fig. 5. When the pulling of the wire is continued such that the winding reel rotates clockwise, the pawl latch of the delay pawl is not pushed by the ratchet, and the pawl dial is acted on by the rebound damping mechanism, the speed at which the pawl latch of the delay pawl is lowered, i.e., the rotation speed at which the delay pawl rotates counterclockwise is reduced), thereby prolonging the time at which the delay pawl engages with the ratchet, and further realizing the delay self-locking.

Further, the damping buffer pawl mechanism includes: the delay pawl can be meshed with the ratchet, and the rebound damping mechanism and the first elastic piece corresponding to the delay pawl are oppositely arranged on two sides of the delay pawl (such as two sides of the delay pawl respectively to form point contact), and the rebound damping mechanism and the first elastic piece act on the delay pawl together in the pulling process of the stay wire so as to reduce the meshing speed of the delay pawl and the ratchet, thereby prolonging the meshing time of the delay pawl and the ratchet and further realizing delay self-locking.

The invention prolongs the time for realizing self-locking in the pulling-out direction of the winding mechanism by arranging the time delay self-locking mechanism, in particular, reduces the meshing speed of the pawl latch of the time delay pawl to the ratchet by the combined action of the linear damping buffer in the damping buffer pawl mechanism or the linear damping buffer and the first elastic piece or the rotary damper and the second elastic piece, thereby prolonging the meshing time between the pawl and the ratchet, further realizing the time delay self-locking in the pulling-out direction, being suitable for various application scenes needing to be freely retracted and rapidly pulled out, such as the upper limb power-assisted exoskeleton, the sling for suspending goods in factories and the like, which need to adjust the height of the goods.

On the other hand, in order to avoid that in the initial state, i.e. the condition that the pull wire can not be further retracted, the pawl of the self-locking mechanism is meshed with the ratchet, for example, under the combined action of the linear damping buffer and the first elastic piece, or the rotary damper and the second elastic piece, the delay pawl in the first embodiment or the second embodiment is wedged into the locking clamping groove of the ratchet after a certain delay or touches the inner edge of the push-pull guide angle on the ratchet (i.e. the ratchet edge between the two ratchet teeth is close to one end of the locking clamping tooth), so that the pull direction of the winding roll is in a self-locking state, and the condition that unlocking can not be performed due to the fact that the pull wire can not be further retracted, i.e. the locking condition is caused. The invention also provides another automatic wire coiling device, which comprises a wire coiling mechanism and a self-locking mechanism which are arranged in the base, and a position integration mechanism which corresponds to the wire coiling mechanism and the self-locking mechanism respectively, wherein the position of a workpiece in the position integration mechanism is determined by the thickness/length of a wire coiled in the wire coiling mechanism; when the thickness or length of the pull wire wound in the wire winding mechanism is greater than or equal to a preset thickness threshold value or the length of the wound pull wire is greater than or equal to a preset length threshold value, a work piece in the position integrating mechanism always places a pawl latch of the self-locking mechanism in an unlocking area so as to always keep the pulling-out direction of the wire winding mechanism unlocked. At this time, the pull wire may be arbitrarily stretched.

Wherein, the position integrating mechanism is respectively corresponding to the winding mechanism and the self-locking mechanism, and the corresponding means: the position integrating mechanism has a certain matching relationship with the wire winding mechanism and the self-locking mechanism, and in different states, the position integrating mechanism is different from the wire winding mechanism in the position relationship or the matching relationship with the self-locking mechanism, and only the position integrating mechanism can satisfy the following requirements: when the thickness of the wound stay wire reaches (i.e. is equal to or greater than) a preset thickness threshold value, or the length of the wound stay 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 always keep in the unlocking area. For example, when the self-locking mechanism adopts the delay self-locking mechanism, the position integrating mechanism can be arranged on the delay self-locking mechanism, so that a workpiece of the position integrating mechanism can change position along with the thickness change of a stay wire wound by a winding roll in the winding mechanism and drive a delay pawl in the delay self-locking mechanism to rotate; or, the position integrating mechanism may be installed near the winding mechanism to make the work piece and the winding roll in the winding mechanism rotate coaxially, and the position may be changed with the length change of the winding wire wound around the winding roll in the winding mechanism, and when the length of the winding wire is greater than or equal to the preset length threshold, the work piece triggers/pushes/drives the delay pawl in the delay self-locking mechanism to rotate, see the following third embodiment.

Specifically, the position integrating mechanism may employ a scroll/screw/reduction mechanism, and a rotary deflector rod that cooperates with the scroll/screw/reduction mechanism; or a roller mechanism, etc.

Example 1

Referring to fig. 1, an internal structure of an embodiment of a time-lapse self-locking automatic winding apparatus according to a first exemplary embodiment is schematically shown. Specifically, the time-delay self-locking automatic wire winding device of the present embodiment includes a wire winding mechanism 11 for winding a wire 160, a base 200 for mounting the wire winding mechanism 11, and a time-delay self-locking mechanism 12 mounted in the base 200, the time-delay self-locking mechanism 12 corresponding to the wire winding mechanism 11. When the pull wire 160 is pulled out of the wire winding mechanism 11 at a first preset speed for a corresponding length and is stopped for a first preset time period, the delay self-locking mechanism 12 is matched with the wire winding mechanism 11 to self-lock the pulling-out direction of the wire winding mechanism 11.

Referring to fig. 2, in particular, 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 coupled to the base 200 through a first fixing shaft 204 on the base 200 (i.e., the winding roll 110 is rotatable clockwise/counterclockwise about the first fixing shaft 204), while the coil spring 150 is mounted in a mounting recess on the winding roll 110, an outer ear 151 of the coil spring 150 is inserted into a coil spring outer ear fixing groove on an inner wall of the mounting recess, 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), then the coil spring 150 is defined in the mounting recess by the coil spring cover 180, and one end of the first fixing shaft 204 having the inner ear fixing groove is penetrated out from a center through hole 181 of the coil spring cover 180 (see fig. 3), and after the winding mechanism 11 and the delay-locking mechanism 12 are mounted, the winding mechanism 11 and the delay-locking mechanism 12 are packaged in the base 200 by the base outer cover 190.

In particular, the wire 160 is wound around the wire groove 112 on the winding reel 110, and the fixed end 1611 thereof is fixed in the wire groove 112, and the free end thereof is threaded out of the wire outlet 206 on the base 200, so that the user can pull the wire 160 from the winding reel 110 in the base through the free end.

In some embodiments, the wire 160 is a flat belt, the fixing end of which is formed into a circular hole by sewing or ironing, when the flat belt fixing pin 170 sequentially passes through the fixing pin mounting holes on the wire reel 110 (specifically, corresponding fixing pin mounting holes are symmetrically formed on two side walls of the wire slot 112), and the circular hole of the flat belt fixing end (i.e. the wire fixing end 1611), so as to fix the flat belt fixing end in the wire slot 112, and the free end of the flat belt can pass through the wire outlet 206 of the base 200, see fig. 3.

In particular, the coil spring 150 is installed in the installation recess in 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 winding reel 110 when the wire 160 is pulled out (i.e., the same as the pulling-out direction of the winding reel 110).

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

Specifically, the ratchet 111 is provided with a plurality of ratchet teeth with pull-out push-out guide angles 1111 uniformly in the circumferential direction, and all ratchet teeth are directed toward the rotation direction when the wire 160 is pulled out, see fig. 1 and 3. Wherein one side of the pull-out push-out guide angle 1111 forms a dead lock tooth slot 1113 with the ratchet edge near the ratchet (i.e., the inner edge of the ratchet) that engages with the delay pawl in the damper buffer pawl mechanism 12, and the other side of the pull-out push-out guide angle 1111 is a pull-out push-out guide edge that forms a retract push-out guide angle 1112 with the retract push-out guide edge. That is, when the delay pawl is engaged with the locking tooth 1113, the delay pawl 120 locks the pull-out direction of the winding reel 110.

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

In some embodiments, referring to fig. 4, the delay pawl 120 includes a pawl latch 121 (specifically, corresponding to the ratchet wheels on both sides of the winding reel 110, the delay pawl 120 includes two pawl latches 121 disposed side by side, referring to fig. 2), and a pawl dial 122 coaxially rotatably connected to the pawl latch 121 (specifically, a corresponding second fixed shaft 203 is disposed in the base 200, and pawl pivot holes are disposed on the pawl latch 121 and the dial 122 and are in a direction matching with the second fixed shaft 203, i.e., when the pawl latch 121 and the pawl dial 122 are mounted on the second fixed shaft 203, the pawl latch 121 and the pawl dial 122 are synchronously rotated clockwise or counterclockwise about the second fixed shaft 203 as a pivot, i.e., the delay pawl 120 is rotatably mounted in the base 200).

Referring to fig. 3, by providing a linear damper buffer (i.e., a rebound damper mechanism) at one side of the pawl block 122, since the linear damper buffer has a certain external pushing force and simultaneously has a large damping, it can be pushed out only at a constant speed, and thus the pushing speed is different according to the difference of external forces when it is compressed. However, since the magnitude and speed of the external thrust force thereof are relatively fixed (particularly, the finished linear damper), and the linear damper 141 and the dial 122 are in point contact (i.e., high-pair coupling), the degree of freedom of movement of the delay pawl is not limited enough, and thus, when the linear damper is compressed (e.g., the delay pawl 120 rotates clockwise, the pawl dial 122 compresses the push rod of the linear damper), there may be a case where the delay pawl is out of contact with the linear damper due to the shaking or inertia of the automatic winding apparatus, thereby causing unexpected locking of the winding reel. Thus, in practice, the speed at which the delay pawl 120 is lowered is adjusted by providing a first resilient member opposite the other side of the pawl dial 122. That is, the speed of counterclockwise rotation of the delay pawl is adjusted by disposing a linear damper buffer and a first elastic member (e.g., a linear adjusting spring) opposite to both sides of the pawl dial 122 such that both act together on the pawl dial 122. That is, by arranging the linear damping buffer and the first elastic member in opposition, the first elastic member and the linear damping buffer cooperate to adjust the speed of the delay pawl 120 being lowered into the locking tooth slot 1113, thereby realizing delay self-locking, and simultaneously, ensuring that the position of the delay pawl 120 at any moment is determined to be unique by the first elastic member, accidental locking of the winding drum due to shaking or inertia is avoided, and thus, the stability of the device is ensured.

Specifically, the difference between the thrust of the linear damping buffer and the compression counterforce of the first elastic piece, and the damping size of the linear damping buffer determine the time required for gradually putting down the delay pawl from the push-out state to the self-locking state, namely the delay self-locking time. The smaller the difference, the longer the delay time, and of course, the smaller the difference, the smaller the damping force of the linear damping buffer, otherwise the pawl will not return to the latched state. Accordingly, the compression reaction force of the first elastic member in the maximum compression state must be smaller than the thrust of the damping buffer, otherwise, the delay pawl cannot be restored to the latch state.

Of course, in other embodiments, a linear damper buffer with resilience force may be separately used, that is, only one side of the delay pawl is provided with a rebound damping mechanism, but a rebound member of the rebound damping mechanism is slidably connected with the pawl shifting block 122 of the delay pawl through a sliding block hinge pair or the like, and in this case, no linear adjusting spring 131 as shown in fig. 5 is required.

In particular, referring to fig. 4, since the end 1212 of the pawl latch 121 is wedged into the locking tooth socket 1113 of the current ratchet 111a, the pull-out direction of the winding reel 110 (i.e., clockwise rotation direction, such as arrow direction O1 in fig. 4) is locked, i.e., the pull-out direction of the winding reel 110 is currently in a self-locking state, at this time, the pull wire 160 cannot be pulled out continuously, and a large pull-out load can be borne, and the pull-out load can be transmitted to the first fixing 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 is retracted into the wire reel 150 by the resilient force of the coil spring 150, and when the wire reel 110 is rotated counterclockwise (see arrow direction O2 in fig. 4) while the end 1212 of the pawl latch 121 is gradually separated from the dead tooth groove 1113 of the current ratchet 111a and gradually moved along the ratchet edge between the current ratchet 111a and the next ratchet 111b to the retraction push angle 1112 of the next ratchet 111b (i.e., the retraction push angle 1112 of the next ratchet 111b contacts the push surface 1211 on the pawl latch 121), and the delay pawl 1112 is rotated clockwise by the retraction push angle, at this time, the linear damper buffer 141 is compressed by the compression of the pawl dial 122 and the linear adjusting spring 131 is gradually released. As the wire 160 continues to be retracted, the end 1212 of the pawl latch 121 transitions sequentially to the pull-out push angle 1111 of the last ratchet tooth 111b, the inner edge 1115 of the pull-out push angle 1111 of the last ratchet tooth 111b, the ratchet edge between the last ratchet tooth 111b and the last ratchet tooth 111d, and so forth until retraction ceases.

In particular, referring to fig. 5, when the retraction push angle 1112 of any one of the ratchet teeth on the ratchet 110 abuts against the push surface 1211 of the pawl latch 121 (at this time, the time delay pawl is currently in the pushed-out state and pushed out to the most distal end), the winding drum 110 can freely rotate clockwise or counterclockwise (see arrow O1 and arrow O2 in fig. 5), i.e., the wire 160 wound around the winding drum 110 can be pulled out or retracted at will. In the present state, if the wire 160 is continuously pulled out (such that the winding drum 110 rotates clockwise), the retraction push angle 1112 of the present ratchet tooth 111a will be away from the push surface 1211 of the pawl latch 121, and when the pull push angle 1111 of the next ratchet tooth 111c of the present ratchet tooth 111a does not touch the end 1212 of the pawl latch 121, and the retraction push angle 1112 of the next ratchet tooth 111c does not touch the push surface 1211 of the pawl latch 121, the delay pawl 120 will be in the linear damper 141 and adjustUnder the combined action of the springs 131, the pawl latch 121 is gradually lowered (i.e., the delay pawl 120 rotates counterclockwise about the second fixed shaft 203). If the pull wire 160 is pulled out at this time too slowly (i.e., less than the preset speed threshold), r is satisfied before the next ratchet tooth 111c touches the delay pawl 120 _P ≤r _R The end 1212 of the pawl latch 121 wedges into the dead lock groove 1113 of the next ratchet tooth 111c, thereby making the pull-out direction of the spool 110 self-locking, i.e., the pull wire 160 cannot be pulled out any further. Accordingly, if the pulling wire is pulled out at this time at a slightly faster speed, r is satisfied when the next ratchet tooth 111c of the current ratchet tooth 111a touches the delay pawl 120 _P >r _R The end 1212 of the pawl latch 121 gradually re-pushes (i.e., delays clockwise rotation of the pawl 120) under the push-out guide angle 1111 of the next ratchet tooth 111c so that the pull wire 160 can be continuously pulled out. Wherein r is _R A straight line distance between the pull-out push angle 1111 for the ratchet on the ratchet 111 and the center/circle center of the ratchet 111; r is (r) _P Is the 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 the end 1212 of the pawl latch 121 contacts the pull-out push-out guide edge between the pull-out push-out guide angle 1111 and the retract push-out guide angle 1112 of the next ratchet tooth 111c during the pull-out of the wire 160, the delay pawl 120 gradually pushes out the pawl latch 121 (i.e., the delay pawl 120 rotates clockwise, see arrow direction O3 in fig. 6) under the pressing action of the pull-out push-out guide edge of the next ratchet tooth 111c, and the pawl dial 122 presses the push rod of the linear damper 141 on one side thereof, accordingly, the adjusting spring 131 is released to some extent. At this time, due to the distance r between the end 1212 of the pawl latch 121 and the center (or circle center) of the ratchet wheel 111 _P Greater than the distance r between the pull-out angle 1111 of the ratchet teeth on the ratchet wheel 111 and the center (or circle center) of the ratchet wheel 111 _R Therefore, the delay self-locking mechanism is currently in an unlocked state, i.e. the pull wire on the winding reel can be pulled out or retracted at this time.

However, if the position of the winding 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 latch 121 cannot be wedged into the locking tooth groove 1113 of the ratchet, so that the wire 160 cannot bear the load. However, at this time, as long as a small section of the wire 160 is properly pulled or retracted, the end 1212 of the pawl latch 121 can avoid this position and then be wedged again into the locking tooth slot 1113 of the ratchet, so that the pulling direction of the winding reel 110, i.e., the clockwise rotation direction, is locked, and the wire 160 can efficiently bear the pulling load.

As can be seen from the above, before the ratchet contacts the pawl latch 121 during the pulling/retracting process of the pull wire 160, if the distance r between the end 1212 of the pawl latch 121 and the center (or circle center) of the ratchet wheel 111 is the same _P Less than or equal to the distance r between the pull-out angle 1111 of the ratchet and the center (or circle center) of the ratchet 111 _R The end of the pawl tooth will wedge into the locking tooth slot of the ratchet, thereby self-locking the pull-out direction of the winding reel (see fig. 4); while the ratchet tooth contacts the pawl latch, if the distance r between the end 1212 of the pawl latch 121 and the center of the ratchet wheel 111 _P Greater than the distance r between the pull-out angle 1111 of the ratchet and the center of the ratchet 111 _R The delay lock mechanism 12 is currently in an unlocked state, i.e., the pull-out direction of the spool 110 is unlocked (see fig. 5 and 6), and the wire can be pulled out or retracted.

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

Example two

Referring to fig. 7, an exploded view of an embodiment of a delay self-locking automatic winding apparatus according to a second exemplary embodiment of the present invention is provided. Specifically, the delay self-locking automatic winding apparatus of the present embodiment includes the winding mechanism 11, the base 200, and the delay self-locking mechanism 12 in the above-described embodiments, except that the delay pawl 120 in the delay self-locking mechanism 12 of the present embodiment 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 with respect to the base 200 (specifically, a center shaft hole 124 through which the second fixing shaft 203 of the base 200 can pass is provided on the pawl center shaft 127, so that the pawl center shaft 127 can rotate about the second fixing shaft 203), 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 a spline 129 at one end (the end far from the inner wall of the bottom wall) of the central shaft 127, and providing a 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 abutted through the abutting joint of the spline 129 and the key slot 1251, so that when the pawl latch rotates, the pawl central shaft 127 is driven to rotate, that is, the pawl latch 121 and the pawl central shaft 127 are coaxially connected in rotation.

In some embodiments, the rebound damping mechanism employs a coaxially disposed rotary damper 142 and a second resilient member, such as torsion spring 132, and in particular, by providing a keyway 1251 (which may be in communication with the keyway corresponding to the pawl central axis 127) on the side of the base of the pawl latch 121 corresponding to the rotary damper 142, the splined rotary end 1422 of the rotary damper 142 interfaces with the splined keyway 1251 on the side of the base of the pawl latch 121 corresponding to the rotary damper (such that the pawl latch 121 may rotate relative to the rotary damper 142, i.e., it is in rotational communication with the rotary damper 142), and the fixed end of the rotary damper 142 is placed inside the damper fixing seat 191 on the outer cover 190 (see fig. 8) such that when the pawl latch rotates (e.g., is pushed by the pull-out lead angle 1111), the splined rotary end 1422 of the rotary damper 142 is driven to rotate, while the rotary damper 142 imparts a damping force to the pawl latch 121.

In some embodiments, referring to fig. 9, the torsion spring 132 is sleeved on the pawl central shaft 127, and the first torsion arm 1321 abuts against the pawl lever 128 fixedly connected to the pawl central shaft 127, and the second torsion arm 1322 abuts against the inner wall of the base 200 (i.e. the second elastic member corresponds to the pawl central shaft 127 and the pawl lever 128, respectively). The pawl lever 128 transfers the torque of the torsion spring 132 to the pawl center shaft 127 due to the preload force and from the pawl center shaft 127 to the pawl latch 121, i.e., the pawl latch 121 is always subject to counterclockwise rotation. When any one of the ratchet teeth on the ratchet 111 pushes the pawl latch 121 outward, so that the pawl latch 121 rotates clockwise, the pawl latch 121 drives the pawl central shaft 127 to rotate clockwise, and accordingly, the pawl central shaft 127 further compresses the torsion spring 132 through the pawl driving lever 128 to avoid the pushing movement of the pawl latch 121. That is, the force of the torsion spring 132 acting on the pawl lever 128 is transferred to the pawl latch 121 through the pawl central shaft 127, and because the key slot 1251 on the pawl latch 121 is in butt joint with the spline rotating end 1422 on the rotary damping buffer 142, when the pawl latch 121 performs the push-out and then the inner release movement, the force is subjected to the damping force generated by the rotary damping buffer 142, so as to delay the lowering speed of the pawl latch 121, play a role of time delay, and further realize time delay self-locking.

In some embodiments, for balancing the force, the ratchet 111 may be disposed on both front and rear sides of the winding roll 110 in the same manner as in the first embodiment. Correspondingly, the delay pawl 120 is matched with the ratchets on the front side and the rear side of the winding roll 110 by adopting two pawl latches 121 arranged side by side, and accordingly, referring to fig. 7 and 8, the two ends of the pawl central shaft 127 are respectively provided with a spline 129, and the bases of the two pawl latches 121 are respectively provided with a key slot 1251 corresponding to the spline 129, namely, the two pawl latches 121 are respectively butted with the two ends of the central shaft 127 through the spline 129 and the key slot 1251 (while the bases of the pawl latches corresponding to the ratchet wheel on the outer side of the winding roll are also provided with the key slot corresponding to the rotary damping buffer 142 so as to be matched with the rotary damping buffer 142), so that the winding roll has more uniform stress characteristics when being locked and stressed; and only the base of the pawl latch corresponding to the outside ratchet of the spool is also provided with a keyway corresponding to the splined rotary end of the rotary damper to mate with the rotary damper.

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

Example III

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

First kind: if the end 1212 of the pawl tooth 121 now rests on the pull-out push-out guide edge of the pull-out push-out guide angle 1111 of the ratchet tooth, as shown in fig. 6, or if the retraction push-out guide angle 1112 of the ratchet tooth now rests on the push-out surface 1211 of the pawl tooth 121 (where the end 1212 of the pawl tooth 121 is at the most distal end), as shown in fig. 5, i.e. the distance r of the end 1212 of the pawl tooth 121 from the center/circle of the ratchet wheel _P Greater than the distance r between the pull-out extrapolated lead angle 1111 and the center/circle of the ratchet wheel _R (i.e. r _P >r _R ) Therefore, even if the pawl cannot be further retracted, the end of the pawl latch is far away from the locking tooth slot 113 of the ratchet, and does not contact the inner edge 1115 (i.e., the ratchet edge) of the locking 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 that the pull wire can be pulled out arbitrarily.

Second kind: if the end of the pawl latch 121 is nowThe portion 1212 rests on the edge of the ratchet between the two ratchet teeth, i.e. the inner edge 1115 of the locking tooth socket of one of the ratchet teeth, or, referring to fig. 4, if at this time the end 1212 of the pawl tooth 121 has been wedged into the locking tooth socket 113 of the ratchet tooth, i.e. the distance r of the end 1212 of the pawl tooth 121 from the center/circle of the ratchet wheel _P Less than the distance r of the pull-out extrapolated lead angle 1111 from the ratchet center/circle center _R (i.e. r _P <r _R ) Therefore, when the pawl latch is engaged with the ratchet to self-lock the pull-out direction of the winding roll under the action of the linear damper and the linear adjusting spring, or the rotary damper and the torsion spring, the self-lock cannot be released on the premise that the pawl latch cannot be further retracted, that is, the pull-out direction is always in a locked state, so that the pull-out wire cannot be pulled out at will in an initial state (that is, all pulled-out wires are retracted, only the free end of the pull-out wire is left (that is, the pull-out wire is not pulled out), or only a small part of the pull-out wire is pulled out).

In order to avoid the second situation described above, i.e., in order to avoid the pull wire from being pulled out at will in the initial state, the present invention provides an automatic wire winding device in which the pull wire is freely stretchable in another exemplary embodiment. The automatic winding device of the present embodiment includes each component in the first or second embodiment, the same reference numerals are used for the same components, and the working principles of each component are the same, which is not repeated here. Differently, the automatic wire winding device of the embodiment further comprises a position integration mechanism 21 installed in the base 200, the position integration mechanism 21 corresponds to the wire winding mechanism and the time delay self-locking mechanism respectively, and the position of the work piece in the position integration mechanism is determined by the thickness/length of the stay wire wound by the wire winding roll in the wire winding mechanism;

When the thickness of the stay wire wound on the winding roll in the winding mechanism is equal to or greater than a preset thickness threshold value, or when the length of the stay wire wound on the winding roll is equal to or greater than a preset length threshold value, the pawl latch of the delay pawl of the delay self-locking mechanism is always placed in an unlocking area by the position integrating mechanism, so that the stay wire direction of the winding mechanism is always unlocked, and the stay wire can be pulled out or retracted at will.

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

In some embodiments, for wire-like or tubular strands, such as steel wire, the length of the strand wound on a winding reel refers to the sum of the lengths of each turn of strand wound on a wire slot of the winding reel (i.e., the cumulative value of the lengths of each of all turns). Typically, the wire is pulled out by a length of one revolution (or turn), and the winding drum is rotated one revolution in the pull-out direction and the rotation angle thereof is 360 °, and thus, the length wound on the winding drum may be expressed as the number of revolutions or the total rotation angle of the winding drum 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 rotation angle is smaller than a preset rotation angle threshold, the pawl latch of the delay self-locking mechanism is always placed in an unlocking area by the position integrating mechanism, so that the pulling-out direction of the winding mechanism is always kept in an unlocking state. At this time, the pull wire can be pulled out arbitrarily.

The number of turns of the winding roll is the total number of turns of the winding roll (i.e. the accumulated value of one turn of the winding roll) which starts to rotate from the initial position 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 refers to the position of the winding roll in the initial state. For example, when the winding reel is rotated in the pulling direction (clockwise in fig. 12 a) from the initial position by the pulled wire, the total number of turns of the winding reel is n1, and the corresponding rotation angle is 360 ° for each turn or revolution of the winding reel, the total rotation angle of the winding reel is 360 ° times n1; after a period of time, when the stay wire is retracted, the number of turns of the winding roll in the retraction direction is n2, then the total number of turns of the winding roll rotated is n1-n2 (n 2 is less than or equal to n 1), and then the total rotation angle is 360 DEG n1-360 DEG n2, namely the difference between the rotation angle of the winding roll in the pull-out direction and the rotation angle in the retraction direction.

In some embodiments, referring to fig. 10, the position integrating mechanism includes a roller mechanism mounted on the time delay self-locking mechanism, the roller mechanism corresponding to a wire slot of a take-up reel in the winding mechanism; specifically, the roller mechanism includes: a roller bracket 220 fixedly provided on a delay pawl of the delay mechanism (for example, fixedly provided between two pawl latch teeth 121 of the delay pawl 120), and a thickness measuring roller 210 rotatably connected to the roller bracket 220 by a rotation shaft, wherein the thickness measuring roller 210 corresponds to a wire slot 112 of a winding drum 110 in a winding mechanism 11 and is rotatable on the roller bracket as a wire 160 wound in the wire slot 112 is pulled 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., at 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 wire is pulled out completely or only a small portion of the wire remains, i.e. the wire is thin on the reel, the gauge roller does not contact the wire due to the angle. In the process of recovering the pull wire, the thickness of the pull wire 160 on the winding roll is gradually increased, and when the thickness reaches a certain thickness, the thickness measuring roller is attached to the outermost ring of the pull wire on the winding roll under the combined action of the linear damping buffer and the first elastic piece and rotates along with the continuous recovery of the pull wire.

With the continued recovery of the wire, the thickness of the wire on the winding roll is further increased, and at this time, the wire will exert a certain force F on the thickness measuring roller, so that the thickness measuring roller 210 drives the delay pawl 120 to rotate together in a direction away from the ratchet wheel (as indicated by the clockwise arrow O3 in fig. 11), thereby making the distance r between the end 1212 of the pawl latch 121 and the center/circle of the ratchet wheel _P And also become larger and larger.

Wherein the position of the thickness measuring roller 210 is determined by the thickness of the wire wound around the winding drum in the winding mechanism, and when the thickness of the wire 160 wound around the wire slot 112 reaches the preset thickness threshold, the thickness measuring roller 210 forcibly pushes the end 1212 of the pawl latch 121 into the unlocking area (i.e. the thickness measuring roller 210 is used as a working member for pushing the delay pawl) through the roller bracket, and the pawl latch 121 is always kept in the unlocking area until the wire 160 is completely retracted, i.e. the distance r between the end 1212 of the pawl latch 121 and the center/circle of the ratchet is always kept _P Distance r from center/circle center greater than push lead angle 1111 of ratchet on ratchet wheel _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 region to engage with the ratchet teeth on the ratchet wheel. That is, at this time, no matter the pull wire is pulled out at the first preset speed and stopped for a period of time, or continuously pulled out at the second preset speed for a period of time, the delay self-locking mechanism will not be self-locked as long as the thickness of the pull wire on the winding roll is still greater than or equal to the preset thickness threshold/preset length threshold, and the pull-out direction of the natural winding roll will not be locked.

The preset thickness threshold refers to a critical thickness value of the pull wire wound on the winding roll when the end 1212 of the pawl latch 121 just enters the unlocking region (for example, the end 1212 just crosses the dashed line in fig. 5) during the rotation of the delay pawl in the direction away from the ratchet wheel driven by the thickness measuring roller. Specifically, the preset thickness threshold is determined by the magnitude 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 (i.e., the preset thickness threshold is the maximum thickness of the wire wound on the winding roll) under the action of the wire only when the wire is fully retracted; or when only one circle or two circles or less than one circle (namely, most of the circle is retracted) of the stay wire is left after the stay wire is retracted, the thickness measuring roller forcedly pushes the pawl latch into the unlocking area under the action of the stay 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 (i.e., the preset thickness threshold is half or one third of the maximum thickness) under the action of the pull wire, and specifically, the thickness measuring roller may be adjusted according to actual needs.

From the above, it can be seen that the end 1212 of the pawl latch 121 is spaced from the center/circle center of the ratchet wheel by a distance r as long as the thickness of the wire (e.g., ribbon) wound around the winding drum is greater than or equal to the predetermined thickness threshold _P Always greater than the distance r of the pull-out push-out angle 1111 of the ratchet from the center/circle center of the ratchet _R I.e. r _P >r _R I.e. the thickness measuring roller always positions the end 1212 of the pawl latch in the unlocking area, thereby ensuring that the wire on the spool 110 is free to pull out, and 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 _R Therefore, in an initial state, the delay self-locking mechanism is always under the extrapolation action of the measuring roller, so that the pulling direction is unlocked, and the stay wire can be pulled out at will.

When the thickness of the wire wound on the winding roll is smaller than the preset thickness threshold, the distance r between the end 1212 of the pawl latch 121 and the center/circle of the ratchet wheel _P Is likely to be smaller than the distance r between the pull-out push-out lead angle 1111 of the ratchet and the ratchet center/circle center _R . At this time, the delay pawl is enabled, i.e., enters an operating state, such that the delay self-locking mechanism is locked after the wire is pulled out at a first preset speed and is stopped for a period of time, or is pulled out at a second preset speed for a period of time. At this time, the end 1212 of the pawl latch may be fully wedged into the locking slot 1113 of the ratchet (but since there is too little wire left on the spool, the thickness measuring roller cannot touch the outermost ring of the wire on the spool); it is also possible that the end 1212 of the pawl tooth is just below the pull-out push angle 1111 of the ratchet, although the end 1212 of the pawl tooth is not yet fully wedged into the locking detent 1113, but the reel can be locked at this time, i.e. the delay self-locking mechanism can be self-locking, and the gauge roller 210 may have touched the outermost turn of the wire 160, but the wire cannot be pulled out due to the self-locking state, and accordingly, the gauge roller is also absent The method rotates further inboard/counterclockwise.

Further, referring to fig. 11, in the initial state, the thickness of the pull wire 160 wound in the wire groove of the winding roll 110 can be adjusted, so that the delay pawl 160 (in the initial state) is pushed out of the inner edge of the ratchet tooth/locking tooth slot 113 by the measuring roller 210 and is always kept (r) _P >r _R ). Therefore, the pull-out direction of the winding reel 110 is not self-locking, and the wire 160 can be pulled out freely. However, as the pull wire 160 is pulled out, the number of turns of the pull wire 160 wound on the winding roll 110 is gradually reduced, the winding thickness of the pull wire is gradually thinned, and when the winding thickness of the pull wire is smaller than the preset thickness threshold value, the delay pawl 120 is not forced to be ejected out by the thickness measuring roller 210 any more, and when the pulling-out or retracting movement is stopped, the delay pawl 120 is gradually lowered into the locking tooth socket 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 the thickness measuring roller 210, that is, the thickness of the wire 160 wound 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 value), the delay pawl is placed in the unlocking area (for example, the end 1212 of the pawl latch is forced to push out of the locking latch 1113 and push into the area outside the virtual wire), 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: the rotary deflector rod 230 and the vortex chute 182, wherein the vortex chute 182 is coaxially and rotatably connected with the winding reel 110, the rotary deflector rod 230 is rotatably installed in the base 200 relative to the base 200, and a pawl push-out part 234 is disposed at one side of the free end of the rotary deflector rod 230 corresponding to the delay pawl, namely the rotary deflector rod 230 is used as a working part for pushing the delay pawl, wherein the pawl push-out part 234 is a working part of the working part.

When the length of the wire wound on the winding roll is greater than or equal to the preset length threshold, the free end of the rotary shift lever 230 is located at the outermost ring (i.e. the outermost edge) of the vortex chute 182, and the pawl push-out portion 234 on the rotary shift 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 swirl chute 182 is provided mirror-symmetrically on the outside of the coil spring cover 180 (i.e., the side corresponding to the outer cover 190) and the rear side of the winding reel 110 (i.e., the side corresponding to the rear wall of the base 200); the rotary deflector rod 230 comprises a connecting cross rod 232 and connecting deflector rods 233 respectively and fixedly connected to two ends of the connecting cross rod 232, wherein the connecting cross rod 232 is mounted on a third fixed shaft 207 on the base 200, and chute salient points 231 are respectively arranged on opposite inner sides of the two connecting deflector rods 233 (i.e. chute salient points are arranged on one side of the free end of the rotary deflector rod corresponding to the vortex-shaped chute). When the rotating deflector rod 230 is mounted on the third fixed shaft 207, the chute protrusions 231 on the two connecting deflector rods 233 are respectively disposed in the vortex chute on the coil spring cover 180 and the vortex chute on the rear side of the winding reel 110, and when the wire is pulled out or retracted, the winding reel 110 drives the vortex chute 182 to rotate clockwise or counterclockwise, the chute protrusions 231 slide along the vortex chute and gradually approach the center of the vortex chute (e.g., gradually slide from the outermost ring to the innermost ring, see fig. 12a and 12 b), or gradually move away from the center of the vortex chute (e.g., gradually slide from the innermost ring to the outermost ring, see fig. 12a and 12 b), and accordingly, the rotating deflector rod 230 gradually swings toward the center of the first fixed shaft 204 (or the vortex chute) or away from (i.e., clockwise or counterclockwise) under the driving of the chute protrusions 231.

When the length of the wire wound on the winding reel is greater than or equal to the preset length threshold, or when the number of turns of the winding reel is less than the preset number of turns threshold/total rotation angle is less than the preset rotation angle threshold, the chute bump 231 on the rotating lever 230 is located at the outermost position of the vortex chute 182 (i.e., located at the outermost circumference of the vortex chute 182, see fig. 12 b), and the pawl push-out portion 234 on the side of the connecting lever 233 corresponding to the delay pawl 120 abuts against the lever bump 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 12 b), and on the premise that the wire is not pulled out (i.e., the wire is fully retracted or mostly retracted), the distance between the end 1212 of the pawl tooth of the delay pawl and the center/center of the ratchet 111 is always greater than the distance between the pull-out push-out guide angle 1111 of the ratchet on the ratchet and the center/center of the ratchet 111, i.e., the end 1212 of the pawl tooth is always located within the unlocking region.

In some embodiments, the predetermined length threshold is a threshold length value of the wire wound on the winding reel when the end 1212 of the pawl latch 121 has just entered the unlock region (e.g., the end 1212 has just crossed the dashed line in fig. 5) during rotation of the delay pawl in a direction away from the ratchet wheel by rotating the chute bump 231 on the lever 230 against the lever bump 1210 on the delay pawl 121. The preset circle threshold value refers to the circle number of the winding roll rotating when the length of the stay wire wound on the winding roll is equal to the preset length threshold value; correspondingly, the preset rotation angle threshold value refers to the sum of angles rotated by the winding roll when the length of the stay wire wound on the winding roll is equal to the preset length threshold value.

The preset length threshold is determined by the outer edge of the scroll chute 182, the chute convex point 231 on the rotating deflector rod 230, the pawl ejecting portion 234, and the position between the deflector rod collision points 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 roll is the preset length), the chute convex point 231 slides to the outermost ring of the scroll chute 182.

As can be seen from the above, by properly adjusting the positions of the outer edge of the scroll-shaped chute 182, the chute convex point 231 on the rotary deflector rod 230, the pawl push-out portion 234, and the deflector rod convex point 1252 on the delay pawl 120, it is ensured that the push-out height of the end 1212 of the pawl latch 121 is higher than the ratchet pull-out push-out guide angle 1111 (i.e., r) on the winding drum 110 when the length of the wire wound on the winding drum reaches (i.e., is equal to or greater than the preset length threshold) _P >r _R ) So that the delay pawl 120 cannot lock the winding reel 110 and the pull wire (e.g., wire rope) can be pulled out freely. As the wire is pulled out, the winding reel is driven to rotate clockwise, the chute salient point 231 of the rotating deflector rod 230 gradually moves towards the inner-layer vortex chute during the rotation process in the vortex chute 182, thereby causing the distance between the pawl push-out part 234 and the rotation center of the winding reel The separation gradually decreases. When the length of the stay wire wound on the winding roll is smaller than a preset length threshold, the delay pawl is released to the self-locking area, and at the moment, when the stay wire stops being pulled out rapidly, the delay pawl is matched with a ratchet wheel on the ratchet wheel, so that self-locking of the pulling direction is realized.

In this embodiment, through the vortex-shaped chute and the rotation deflector rod that are symmetrically arranged, the stress of the rotation deflector rod and the time delay pawl is more uniform, and of course, the time delay pawl, the vortex-shaped chute and the deflector rod can be arranged on one side, and the working principle is the same as that of the symmetrical arrangement.

Of course, other mechanisms than the measuring roller 210 and the scroll chute 182, such as a scroll slide, a thread groove, a speed reducing mechanism composed of a speed reducing gear, etc., can be used as the position integrating mechanism, which can determine the thickness/length of the wire drawing on the winding roll. For example, a multi-stage gear reduction mechanism is directly arranged between the winding roll 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 roll is equal to or greater than a preset length threshold value, the pawl latch of the delay pawl is pushed into the unlocking area by the position integration mechanism and is always arranged in the unlocking area (as the area outside the broken line in fig. 5 and 6, namely, the distance from the center of the ratchet wheel is greater than r) _R Is a region of (2) so as to avoid self-locking in an initial state; when the winding roll starts to rotate clockwise from the initial state, the rotary deflector rod at the extreme end (namely on the gear of the last-stage reducer) under the action of the gears of the plurality of stages of reduction mechanisms can gradually release the delay pawl into a self-locking area (such as an area between a broken line and the inner edge of the ratchet wheel edge/locking tooth groove in fig. 5 and 6). Of course, in addition to the above-described multi-stage gears, the reduction gear may also employ a planetary gear train, a threaded screw, a harmonic reducer, and the like.

Of course, the self-locking mechanism in this embodiment may not adopt the delay self-locking mechanism described above, or may adopt a self-locking mechanism including a ratchet and a pawl, and only needs to satisfy: when the thickness of the stay wire wound by the winding mechanism is larger than or equal to a preset thickness threshold value, or when the length of the stay wire wound by the 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.

Claims

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

when the stay wire is pulled out of the wire coiling mechanism at a first preset speed and is stopped for a first preset time, the delay self-locking mechanism is matched with the wire coiling mechanism to self-lock the pulling-out direction of the wire coiling mechanism; wherein the first preset speed is greater than a preset pull-out speed threshold;

when the stay wire is pulled out of the wire coiling mechanism at a second preset speed and continuously pulled out for a second preset time, the delay self-locking mechanism is matched with the wire coiling mechanism so as to self-lock the pulling-out direction of the wire coiling mechanism; wherein the second preset speed is less than or equal to the preset pull-out speed threshold.

2. The automatic wire winding device of claim 1, wherein the delay self-locking mechanism comprises: at least one ratchet wheel coaxially and rotatably connected with a winding roll in the winding mechanism, and a damping buffer pawl mechanism capable of being meshed with a ratchet wheel on the ratchet wheel;

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

3. The automatic wire winding device of claim 2, wherein the damping buffer pawl mechanism comprises: the delay pawl can be meshed with the ratchet, and the rebound damping mechanism is arranged in the base in a manner of being rotatable relative to the base, and is arranged in the base and is in sliding connection or coaxial rotation connection with the delay pawl;

during the pulling out of the pulling wire, the rebound damping mechanism acts on the delay pawl to reduce the speed of the delay pawl meshed with the ratchet teeth, thereby prolonging the time of the delay pawl meshed with the ratchet teeth.

4. The automatic wire winding device of claim 2, wherein the damping buffer pawl mechanism comprises: the delay pawl can be meshed with the ratchet, the rebound damping mechanism and the first elastic piece are installed in the base in a mode of being rotatable relative to the base, and the rebound damping mechanism and the first elastic piece are installed in the base and are oppositely arranged on two sides of the delay pawl;

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

5. An automatic wire winding device according to claim 3 or 4, wherein the rebound damping structure comprises: a linear damper having a resilient force and slidably coupled/point-contacted with the delay pawl; or, the rebound damping structure comprises: and the rotary damper and the second elastic piece are coaxially arranged with the delay pawl.

6. The automatic wire winding device of claim 4, wherein the delay pawl comprises: a pawl dial disposed between the rebound damping mechanism and the first resilient member, and at least one pawl tooth engageable with the ratchet teeth; the pawl shifting block is installed in the base in a mode of being rotatable relative to the base, and the pawl clamping teeth are coaxially and rotatably connected with the pawl shifting block.

7. The automatic wire winding apparatus of claim 5, wherein the delay pawl comprises: a pawl latch engageable with a ratchet on the ratchet, a pawl center shaft coaxially mounted with the second resilient member, and a pawl lever corresponding to the second resilient member; the pawl shifting 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 clamping teeth.

8. The automatic wire winding device of claim 7, wherein the second elastic member is sleeved on the pawl central shaft, 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 the inner wall of the base, so that torque of the second elastic member is transmitted to the pawl central shaft through the pawl driving lever.

9. An exoskeleton comprising an automatic winding device according to any one of claims 1 to 8.