CN115401679A - Rope stretching compensation device - Google Patents
Rope stretching compensation device Download PDFInfo
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- CN115401679A CN115401679A CN202210853586.0A CN202210853586A CN115401679A CN 115401679 A CN115401679 A CN 115401679A CN 202210853586 A CN202210853586 A CN 202210853586A CN 115401679 A CN115401679 A CN 115401679A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 239000000758 substrate Substances 0.000 claims abstract description 14
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 2
- 244000309464 bull Species 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 9
- YZCKVEUIGOORGS-OUBTZVSYSA-N Deuterium Chemical compound [2H] YZCKVEUIGOORGS-OUBTZVSYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a rope stretching compensation device, which overcomes the problem of deformation generated after a rope is pulled up in the prior art, and comprises a gear substrate sliding part, a base rack fixing part and a transmission part; the gear substrate sliding part is placed on a bottom plate at the lower end of a base (3) in the base rack fixing part, a sliding block (10) of the gear substrate sliding part is installed in a No. 2 groove (302) on the bottom plate at the lower end, and the sliding block (10) is in sliding connection with the No. 2 groove (302); a No. 2 gear (8) and a No. 1 gear (2) of the gear substrate sliding component are respectively meshed and connected with a No. 2 rack (9) and a No. 1 rack (1) in the base rack fixing component; a certain point in the middle of a rope (11) in the transmission part is riveted in a groove of a wheel (5) in the sliding part of the gear base plate, and one end of the rope (11) is fixedly connected on a driving wheel (14) in the transmission part below the base (3).
Description
Technical Field
The present invention relates to a compensating device, and more particularly, to a rope tension compensating device.
Background
Since the first robot developed by united states control corporation in 1958, the development of the serial robot has been 60 years, and the serial robot gradually developed in two directions: the size is reduced, and the size is increased. In the development of upsizing, the manipulator pursues higher load capacity; in the process of miniaturization, the mechanical arm is required to have a thinner body shape so as to work in a narrow working space. Many researchers have proposed a method of reducing the body size of the robot arm using a rope, a gear, a link, or the like as a power transmission medium. The rope is used as a power transmission medium, so that the kinematic joint of the serial manipulator can be greatly simplified and reduced. In addition, the arm of the manipulator can be made to be more slender, the influence of the arm profile on the motion of the manipulator becomes smaller, the motion space is wider, and the problem of improving the precision of the manipulator is always a key problem.
But in serial-type rope driven manipulator, the rope cover is on action wheel and follow driving wheel, and the action wheel drives the rope, and the rope receives tensile back, produces the elongation, can lead to the motion transmission inaccurate, and this precision to serial-type rope driven manipulator can cause very big error, for solving the deflection problem, to the problem that the manipulator device met is driven to the rope, provides a rope and drives the tensile compensation arrangement of rope of manipulator.
Disclosure of Invention
The invention aims to solve the technical problem that the deformation is generated after a rope is stretched in the prior art, and provides a rope stretching compensation device.
In order to solve the technical problems, the invention adopts the following technical scheme: the rope stretching compensation device comprises a gear base plate sliding part, a base rack fixing part and a transmission part;
the gear substrate sliding part is arranged on a lower end bottom plate of a base in the base rack fixing part, a sliding block of the gear substrate sliding part is arranged in a No. 2 groove on the lower end bottom plate, and the sliding block is in sliding connection with the No. 2 groove; the No. 2 gear and the No. 1 gear of the gear substrate sliding part are respectively meshed and connected with the No. 2 rack and the No. 1 rack in the base rack fixing part; the middle point of the rope in the transmission part is riveted in the groove of the wheel in the sliding part of the gear base plate, and one end of the rope is fixedly connected with the driving wheel in the transmission part below the base.
The sliding part of the gear base plate in the technical scheme also comprises a pinion, a gearwheel, a sliding base plate, a No. 1 short pin and 3 No. 2 short pins with the same structure; the No. 1 rack and the No. 2 rack are oppositely fixed on a right end plate and a left end plate of a lower end bottom plate in the base in parallel by screws, the sliding base plate is connected with the sliding block by a No. 1 short pin, the wheel is sleeved at the upper end of the No. 1 short pin and is in rotary connection, the big gear is sleeved at the lower end of the wheel, the small gear is arranged on a middle through hole on a left supporting arm of the sliding base plate by a No. 2 short pin, the No. 2 short pin is in static fit with the middle through hole, the No. 2 gear is arranged on an outer end through hole on the left supporting arm of the sliding base plate by a No. 2 short pin, and the No. 1 gear is arranged on a through hole at the outer end of a right supporting arm of the sliding base plate by a No. 2 short pin; the left side of the large gear is meshed with the right side of the small gear, the left side of the small gear is meshed with the right side of the No. 2 gear, the left side of the No. 2 gear is meshed with the right side of the No. 2 rack, the right side of the large gear is meshed with the left side of the No. 1 gear, and the right side of the No. 1 gear is meshed with the left side of the No. 1 rack.
The base in the technical scheme is an L-shaped plate type structural member and comprises a lower end bottom plate and an upper end plate; the upper end plate is a rectangular plate type structural member with equal thickness, the length of the upper end plate is equal to that of the lower end bottom plate, and the height of the upper end plate is greater than the thickness of the thickest left end plate and right end plate of the lower end bottom plate; the lower end bottom plate is a rectangular plate type structural member with variable cross sections which are symmetrical along the longitudinal direction, the two ends of the lower end bottom plate are provided with a left end plate and a right end plate which are equal in thickness and width, the left end plate and the right end plate are symmetrically provided with 4 threaded holes which are same in structure and used for installing the No. 2 rack and the No. 1 rack on the left end plate and the right end plate, and the 4 threaded holes which are same in structure are symmetrically distributed along the longitudinal symmetrical line; a No. 1 groove with equal depth and equal width is arranged between the left end plate and the right end plate of the lower end bottom plate, a No. 2 groove with equal depth and equal width for installing a sliding block is arranged at the center of the No. 1 groove, and the longitudinal symmetry line of the No. 2 groove is vertically intersected with the longitudinal symmetry line of the lower end bottom plate; one long edge of the lower end bottom plate is vertically connected with one side face of one long edge of the lower end of the upper end plate into a whole, two end faces of the lower end bottom plate and the upper end plate in the length direction are respectively coplanar, and the bottom surface of the lower end bottom plate is coplanar with the bottom surface of the lower end of the upper end plate.
In the technical scheme, the No. 1 rack and the No. 2 rack are rectangular plate type structural members with the same structure and size, two countersunk screw through holes are uniformly formed in the No. 1 rack and the No. 2 rack along the longitudinal direction of the racks, straight teeth with the same structure are uniformly arranged on the No. 1 rack and the No. 2 rack along the longitudinal end of the racks, and the structure of the straight teeth on the No. 1 rack and the No. 2 rack is the same as that of the straight teeth on the No. 1 gear and the No. 2 gear which are meshed with the racks.
The wheel in the technical scheme is a two-section stepped shaft type structural member, the upper end of the wheel is a first section shaft, the lower end of the wheel is a second section shaft, the first section shaft is a large-diameter shaft, the diameter of the second section shaft is smaller than that of the first section shaft, the bottom end of the first section shaft is fixedly connected with the top end of the second section shaft, the rotation center line of the first section shaft is collinear with that of the second section shaft, an annular groove for placing a rope (11) is arranged at the center of the rotation surface of the first section shaft, and the shape of the groove is circular arc; the center of the bottom end face of the second section of the shaft is provided with a blind hole for mounting the No. 1 short pin, and the diameter of the blind hole is equal to that of the No. 1 short pin.
The technical scheme in the slip base plate be the iron flat plate structure of V font, constitute by left branch brace and right branch brace, the board-like arm of left branch brace and right branch brace for the same width with the equal thickness, the left branch brace links into an integrated entity with the one end of right branch brace, contained angle between left branch brace and the right branch brace is 120 degrees to 140 degrees, is provided with 4 through-holes that the structure is the same on the vertical symmetry line of left branch brace and right branch brace: a through hole is arranged at the intersection of the longitudinal symmetrical lines of the left supporting arm and the right supporting arm, 2 through holes are arranged at the outer end of the left supporting arm, and 1 through hole is arranged at the outer end of the right supporting arm; the outer end face of the left support arm is a combined face of a plane and a cylindrical face, the outer end face of the right support arm is a cylindrical face, and the connecting part of the left support arm and the right support arm is in smooth connection with the outer cylindrical face through an inner cylindrical face.
The slider in the technical scheme is a cuboid structural member, the size of the width direction of the slider is equal to the size of the width direction of a No. 2 groove on a bottom plate at the lower end in a base, a central through hole for mounting a No. 1 short pin is arranged at the center of the slider, and the diameter of the central through hole is equal to that of the No. 1 short pin.
Compared with the prior art, the invention has the beneficial effects that:
1. the rope stretching compensation device adopts gear transmission and pulley slide block movement, and has the characteristics of stable transmission and high precision;
2. the rope stretching compensation device has no external power device, has small volume and light weight, and cannot increase the size of a manipulator.
Drawings
The invention is further described below with reference to the accompanying drawings:
fig. 1 is an axonometric view of the structural composition of the rope tension compensating device according to the invention;
fig. 2 is a top view of the structural components of the rope tension compensating device according to the invention;
fig. 3 is an axonometric view of the base structure used in the rope tension compensating device according to the invention;
fig. 4 is a front view of a sliding base plate structure composition used in the rope tension compensating device according to the present invention;
FIG. 5 isbase:Sub>A cross-sectional view taken at A-A of FIG. 2 and rotated 90 degrees clockwise;
fig. 6 is an axial projection view of a wheel structure used in the rope tension compensating device according to the present invention;
fig. 7 is a schematic view of the structure of the rope tension compensating device according to the invention.
In the figure: the gear comprises a No. 1.1 rack, a No. 2.1 gear, a No. 3 base, a No. 301.1 groove, a No. 302.2 groove, a No. 4 gearwheel, a No. 5 wheel, a No. 6 sliding base plate, a No. 7 pinion, a No. 8.2 gear, a No. 9.2 rack, a No. 10 slider, a No. 11 rope, a No. 12.1 short pin, a No. 13.2 short pin and a No. 14 driving wheel.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
referring to fig. 1, the rope tension compensating apparatus according to the present invention includes a gear base plate sliding member, a base rack fixing member, and a transmission member.
The sliding part of the gear base plate comprises a No. 1 gear 2, a No. 2 gear 8, a pinion 7, a large gear 4, a wheel 5, a sliding base plate 6, a sliding block 10, a No. 1 short pin 12 and 3 No. 2 short pins 13 with the same structure;
the number 1 gear 2, the number 2 gear 8, the small gear 7 and the large gear 4 have the same modulus which is m, and the diameter of the number 1 gear 2 is r 2 And the diameter of the No. 2 gear 8 is r 4 Diameter r of No. 1 gear 2 2 Equal, the diameter of the pinion 7 is r 3 The diameter of the gearwheel 4 is r 1 ；
The wheel 5 is a two-section stepped shaft type structural member, the upper end of the wheel is a first section shaft, the lower end of the wheel is a second section shaft, the bottom end of the first section shaft is fixedly connected with the top end of the second section shaft, the rotation center line of the first section shaft is collinear with the rotation center line of the second section shaft, the first section shaft is a large-diameter shaft, the diameter of the second section shaft is smaller than that of the first section shaft, an annular groove is arranged at the center of the rotation surface of the first section shaft, the shape of the groove is arc-shaped, and a certain point on the rope 11 is fixed in the groove in a riveting mode; the center department of second section axle bottom is processed there is the blind hole, and this blind hole is used for installing No. 1 short pin 12, and the aperture of blind hole equals with No. 1 short pin diameter.
The slider 10 is a cuboid structural member, the size of the slider 10 in the width direction is equal to the size of the No. 2 groove 302 on the bottom plate at the lower end in the base 3 in the width direction, the two are connected in a sliding manner, a central through hole is processed at the center of the slider 10, the central through hole is used for installing the No. 1 short pin 13 and connecting the sliding substrate 6 with the wheel 5 through the No. 1 short pin 12, and the diameter of the central through hole is equal to the diameter of the No. 1 short pin 12.
Sliding substrate 6 be the iron flat plate structure spare of V font, constitute by left branch brace and right branch brace, left branch brace and right branch brace are the board-like arm of uniform width and uniform thickness, the left branch brace links into an integrated entity with the one end of right branch brace, contained angle between left branch brace and the right branch brace is 120 degrees to 140 degrees, is provided with the same through-hole of 4 structures on the vertical symmetry line of left branch brace and right branch brace: a through hole is arranged at the intersection of the longitudinal symmetrical lines of the left supporting arm and the right supporting arm, 2 through holes are arranged at the outer end of the left supporting arm, and 1 through hole is arranged at the outer end of the right supporting arm; the outer end face of the left support arm is a combined face of a plane and a cylindrical face, the outer end face of the right support arm is a cylindrical face, and the connecting part of the left support arm and the inner end of the right support arm is in smooth connection with the outer cylindrical face through an inner cylindrical face; 4 through holes with the same diameter on the sliding base plate 6, a No. 2 gear 8 is arranged on the through hole at the leftmost side by a No. 2 short pin 13, the left side of the No. 2 gear 8 is meshed with a No. 2 rack 9 of a base rack fixing part, the right side is meshed with a pinion 7, and the No. 2 short pin 13 is rotationally connected with the No. 2 gear 8, the lower end of the No. 2 short pin 13 is in interference fit with the sliding base plate 6, the No. 2 gear 8 transmits the motion of the pinion 7 to the No. 2 rack 9, the second through hole on the left side adopts the No. 2 short pin 13 to install the pinion 7, the left side of the pinion 7 is meshed with the No. 2 gear 8, the right side is meshed with the large gear 4, the No. 2 short pin 13 is rotationally connected with the small gear 7, the lower end of the No. 2 short pin 13 is in interference fit with the sliding base plate 6, the small gear 7 transmits the rotation of the big gear 4 to the No. 2 gear 8, a through hole at the intersection of the longitudinal symmetrical lines of the left supporting arm and the right supporting arm is connected by the No. 1 short pin 12, the stepped wheel 5 is connected with the sliding base plate 6 and the sliding block 10 together according to the upper, middle and lower positions, the wheel 5 is rotationally connected with the No. 1 short pin 12, the big gear 4 is sleeved on a second section shaft of the wheel 5, the top end surface of the big gear 4 is in contact connection with the bottom end surface of the first section shaft in the wheel 5, the big gear 4 and the second section shaft are in interference fit, the left side of the big gear 4 is meshed with the small gear 7, the right side of the big gear 4 is meshed with the No. 1 gear 2, the big gear 4 transmits the same rotation angle of the wheel 5 to the gears meshed on the left and right sides, the No. 1 gear 2 is arranged in a through hole on the right side by adopting the No. 2 short pin 13, the big gear 4 is meshed on the left side of the No. 1 gear 2, the rack 1 meshed on the right side, the rack 2 meshed on the No. 1 gear 2 transmits the motion of the big gear 4 to the rack 1 on the No. 1, the upper end of the No. 2 short pin 13 is rotationally connected with the No. 1 gear 2, and the lower end of the No. 2 short pin 13 is in interference fit with the sliding base plate 6;
no. 1 short round pin 12 is straight cylindric lock, and No. 2 short round pin 13 is the cylindric lock that has the head, and No. 1 short round pin 12 equals with 13 cylinder part diameters of No. 2 short round pin, and No. 1 short round pin 12, no. 2 short round pin 13 and gear, the cooperation of wheel 5 are the swivelling joint, and the cooperation of No. 1 short round pin 12, no. 2 short round pin 13 and base plate is interference fit.
The base rack fixing part comprises a base 3, a No. 1 rack 1 and a No. 2 rack 9;
the base 3 is an L-shaped plate structural member, the base 3 comprises a lower end bottom plate and an upper end plate, the upper end plate is a rectangular plate structural member with equal thickness, the length of the upper end plate is equal to that of the lower end bottom plate, and the width (height) of the upper end plate is greater than the thickness of the thickest two ends of the lower end bottom plate; the base 3 is welded on the mechanical arm, the lower end bottom plate is a rectangular plate type structural member with variable cross sections which is longitudinally symmetrical, two ends of the lower end bottom plate are provided with two end plates with equal thickness and width, namely a left end plate and a right end plate, the left end plate and the right end plate are symmetrically provided with 4 threaded holes with the same structure, the 4 threaded through holes with the same structure are symmetrically distributed along a longitudinal symmetrical line, the 4 threaded holes with the same structure are used for installing a No. 2 rack 9 and a No. 1 rack 1 on the left end plate and the right end plate of the lower end bottom plate, and the whole rope stretching compensation device is fixed on one side of the mechanical arm; a groove 1 with equal depth and equal width is arranged between the left end plate and the right end plate of the lower end bottom plate, a groove 2 with equal depth and equal width is arranged at the center of the groove 1, the longitudinal symmetry line of the groove 2 is vertically intersected with the longitudinal symmetry line of the lower end bottom plate, the groove 2 is used for installing a sliding block 10, and the sliding block 10 can transversely move along the lower end bottom plate in the groove 2 302; one long edge of the lower end bottom plate is vertically connected with one side face of one long edge of the lower end of the upper end plate into a whole, two end faces of the lower end bottom plate and the upper end plate in the length direction are respectively coplanar, and the bottom surface of the lower end bottom plate is coplanar with the bottom surface of the lower end of the upper end plate.
No. 1 rack 1, no. 2 rack 9 is the same rectangle plate structure of structure size, no. 1 rack, no. 2 rack is gone up and is vertically provided with two countersunk screw through holes along it uniformly, the central distance of 2 the same screw through holes of structure on two countersunk screw through holes and the right-hand member board and the left end board equals, no. 2 rack 9, no. 1 rack adopts the fix with screw on the left end board and the right end board of the lower extreme bottom plate in base 3, no. 1 rack 1, no. 2 rack is gone up and is evenly provided with the same straight-teeth of structure along its fore-and-aft one end, no. 1 rack 1, the modulus of No. 2 rack is the same with the gear modulus for m, and rack thickness is also the same with gear thickness.
The transmission part comprises a driving wheel 14 and a rope 11;
the rope 11 is a motion transmission medium, one end of the rope is connected with the driving wheel 14, the other end of the rope is connected with the middle transmission wheel or the terminal end of the mechanical arm, the middle point of the rope is riveted in the groove of the wheel 5, the driving wheel 14 is fixed at a distance below the distance compensation device, and the rope is tensioned to generate an elongation through rotation.
The gear base plate sliding component is placed on a lower end bottom plate in the base rack fixing component, a sliding block 10 of the gear base plate sliding component is installed in a No. 2 groove 302 on the lower end bottom plate, and the sliding block 10 is in sliding connection with the No. 2 groove 302; the No. 2 gear 8 and the No. 1 gear 2 of the gear substrate sliding component are respectively meshed with the No. 2 rack 9 and the No. 1 rack 1 left and right, and the gears and the racks are in meshing transmission; the rope 11 is a motion transmission medium, the middle point of the rope is riveted in a groove of the wheel 5, the lower end of the rope is wound on the driving wheel 14, and the force is transmitted to the rope 11 through the rotation of the driving wheel 14, so that the rope generates elongation.
The working principle of the rope tension compensation device is as follows:
referring to fig. 7, a certain point on the rope 11 is riveted in a groove on the wheel 5, after the rope 11 is stretched, the rope 11 is stressed to generate elongation deformation, which may cause inaccurate motion transmission, and in order to solve the problem of the deformation of the rope 11, a rope stretching compensation method is selected, which has the following principle: when the driving wheel 14 rotates anticlockwise, the rope 11 is deformed due to the tensile force, the wheel 5 rotates anticlockwise to drive the large gear 4 to rotate anticlockwise, the right side of the large gear 4 is meshed with the gear 2 No. 1, the large gear 4 is a driving wheel, the gear 2 No. 1 rotates clockwise, the transmission ratio k1 of the gear 2 No. 1 to the large gear 4 is increased, and the gear 2 No. 1 is meshed with the rack 1 No. 1, so that the rack 1 No. 1 moves towards the rope extending direction; the other side of the large gear 4 is meshed with the small gear 7, the large gear 4 is a driving wheel, the small gear 7 rotates clockwise, the transmission ratio k2 between the small gear 7 and the large gear 4, the small gear 7 is meshed with the gear 9 No. 2, the gear 8 No. 2 rotates anticlockwise, the transmission ratio between the gear 8 No. 2 and the small gear 7 is k3, the transmission ratio between the gear 8 No. 2 and the large gear 4 is simplified into k4, the gear 8 No. 2 is meshed with the rack 9 No. 2, and the rack 9 No. 2 also moves towards the rope extending direction. Structurally, the module diameters of the gear 2 and the gear 8 of the number 1 are equal, the transmission ratio k1 between the gear 4 and the gear 2 of the number 1 is equal to the transmission ratio k4 between the gear 4 and the gear 8 of the number 2, so that the rotation of the gear 4 can make the gear 2 and the gear 8 of the number 2 generate the same rotation angle effect, the rotation of the gear 8 of the number 2 is counterclockwise and the rotation of the gear 2 of the number 1 is clockwise due to the transmission of the pinion 7, the module diameters of the gear 2 of the number 1 and the gear 8 of the number 2 are equal to each other, the number of teeth of the two gears is also the same, the module teeth and other structural parameters of the rack 1 and the rack 2 9 of the number 1 are also the same, finally, the distance for the left end and the right end of the rope tension compensation device of the rope driving manipulator to move along the rope elongation direction of the rope 11 is the same, but the base 3, the rack 1 of the number 1 and the rack 9 of the number 2 are fixed on the manipulator and can not move, so that the sliding base 6 and the sliding block 10 move along the groove 302 of the number 2 on the base 3 to drive the whole rope to move towards the tension direction of the rope 11. Thereby eliminating the resulting Δ L distortion.
Wherein:
it is known that: r is a radical of hydrogen 2 ＝r 4 (ii) a Then it follows: k is a radical of 1 ＝k 4 ；
It can thus be demonstrated that: the rotation transmitted to the large gear 4 by the rope 11 will be transmitted to the No. 1 rack 1 and the No. 2 rack 9 through the No. 1 gear 2, the No. 2 gear 8 and the small gear 7, and the gear base plate sliding part will get the same displacement at the No. 1 rack 1 and the No. 2 rack 9.
Claims (7)
1. A rope stretching compensation device is characterized by comprising a gear substrate sliding part, a base rack fixing part and a transmission part;
the gear substrate sliding component is arranged on a lower end bottom plate of a base (3) in the base rack fixing component, a sliding block (10) of the gear substrate sliding component is arranged in a No. 2 groove (302) on the lower end bottom plate, and the sliding block (10) is in sliding connection with the No. 2 groove (302); a No. 2 gear (8) and a No. 1 gear (2) of the gear substrate sliding part are respectively meshed and connected with a No. 2 rack (9) and a No. 1 rack (1) in the base rack fixing part; a certain point in the middle of a rope (11) in the transmission part is riveted in a groove of a wheel (5) in the sliding part of the gear base plate, and one end of the rope (11) is fixedly connected to a driving wheel (14) in the transmission part below the base (3).
2. A rope tension compensating device as defined in claim 1, characterized in that said gear base plate sliding means further comprises a pinion (7), a bull gear (4), a sliding base plate (6), a No. 1 short pin (12) and 3 structurally identical No. 2 short pins (13);
the sliding base plate is characterized in that a No. 1 rack (1) and a No. 2 rack (9) are parallelly and relatively fixed on a right end plate and a left end plate of a lower end bottom plate in a base (3) by screws, a No. 1 short pin (12) is adopted to connect a sliding base plate (6) with a sliding block (10), a wheel (5) is sleeved at the upper end of the No. 1 short pin (12) and is in rotating connection, a large gear (4) is sleeved at the lower end of the wheel (5), a small gear (7) is installed on a middle through hole in a left supporting arm of the sliding base plate (6) by a No. 2 short pin (13) and is in static fit with the middle through hole, a No. 2 gear (8) is installed on an outer end through hole in the left supporting arm of the sliding base plate (6) by the No. 2 short pin (13), and a No. 1 gear (2) is installed on a through hole in a right supporting arm of the sliding base plate (6) by the No. 2 short pin (13);
the left side of the large gear (4) is meshed with the right side of the small gear (7) and is connected with the left side of the small gear (7), the left side of the small gear (7) is meshed with the right side of the No. 2 gear (8), the left side of the No. 2 gear (8) is meshed with the right side of the No. 2 rack (9) and is connected with the right side of the large gear (4) in a meshed mode, and the right side of the No. 1 gear (2) is meshed with the left side of the No. 1 rack (1) in a connected mode.
3. Rope tension compensating device according to claim 1, characterized in that the base (3) is an L-shaped plate-like structure, the base (3) comprising a lower end plate and an upper end plate;
the upper end plate is a rectangular plate type structural member with equal thickness, the length of the upper end plate is equal to that of the lower end bottom plate, and the height of the upper end plate is greater than the thickness of the thickest left end plate and right end plate of the lower end bottom plate;
the lower end bottom plate is a rectangular plate type structural member with variable cross sections which are symmetrical along the longitudinal direction, the two ends of the lower end bottom plate are provided with a left end plate and a right end plate which are equal in thickness and width, the left end plate and the right end plate are symmetrically provided with 4 threaded holes which are same in structure and used for installing the No. 2 rack (9) and the No. 1 rack (1) on the left end plate and the right end plate, and the 4 threaded holes which are same in structure are symmetrically distributed along the longitudinal symmetry line; a No. 1 groove (301) with equal depth and equal width is arranged between the left end plate and the right end plate of the lower end bottom plate, a No. 2 groove (302) with equal depth and equal width for installing a sliding block (10) is arranged at the center of the No. 1 groove (301), and the longitudinal symmetry line of the No. 2 groove (302) is vertically intersected with the longitudinal symmetry line of the lower end bottom plate;
one long edge of the lower end bottom plate is vertically connected with one side face of one long edge of the lower end of the upper end plate into a whole, two end faces of the lower end bottom plate and the upper end plate in the length direction are respectively coplanar, and the bottom face of the lower end bottom plate is coplanar with the bottom face of the lower end of the upper end plate.
4. The rope tension compensating device according to claim 1, characterized in that the racks 1 and 2 (9) are rectangular plate-type structural members with the same structural size, two countersunk screw through holes are uniformly formed in the racks 1 and 2 (9) along the longitudinal direction thereof, straight teeth with the same structure are uniformly formed in the racks 1 and 2 (9) along one longitudinal end thereof, and the straight teeth on the racks 1 and 2 (9) have the same structure as the straight teeth on the gears 1 and 2 (8) engaged therewith.
5. A rope tension compensating device as defined in claim 1, wherein said wheel (5) is a two-section stepped shaft type structure, the upper end is a first section shaft, the lower end is a second section shaft, the first section shaft is a large diameter shaft, the diameter of the second section shaft is smaller than that of the first section shaft, the bottom end of the first section shaft is fixedly connected with the top end of the second section shaft, the center line of rotation of the first section shaft is collinear with that of the second section shaft, an annular groove for placing the rope (11) is provided in the center of the surface of rotation of the first section shaft, and the groove is shaped as an arc; the center department of second section axle bottom end face processes has the blind hole that is used for installing No. 1 short pin (12), and the aperture of blind hole equals with the diameter of No. 1 short pin (12).
6. A rope tension compensating device as defined in claim 2, wherein said sliding base plate (6) is a V-shaped iron plate structure member composed of a left support arm and a right support arm, the left support arm and the right support arm are plate type arms of equal width and thickness, one end of the left support arm and one end of the right support arm are connected into a whole, the included angle between the left support arm and the right support arm is 120 to 140 degrees, and 4 through holes of the same structure are provided on the longitudinal symmetry line of the left support arm and the right support arm: a through hole is arranged at the intersection of the longitudinal symmetrical lines of the left supporting arm and the right supporting arm, 2 through holes are arranged at the outer end of the left supporting arm, and 1 through hole is arranged at the outer end of the right supporting arm; the outer end face of the left support arm is a combined face of a plane and a cylindrical face, the outer end face of the right support arm is a cylindrical face, and the connecting part of the left support arm and the right support arm is in smooth connection with the outer cylindrical face through an inner cylindrical face.
7. A rope tension compensating device as defined in claim 1, characterized in that said slider (10) is a rectangular parallelepiped-shaped structure, the dimension of the slider (10) in the width direction is equal to the dimension of the No. 2 groove (302) on the lower end bottom plate in the base (3) in the width direction, a central through hole for mounting the No. 1 short pin (12) is provided in the center of the slider (10), and the diameter of the central through hole is equal to the diameter of the No. 1 short pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210853586.0A CN115401679B (en) | 2022-07-11 | 2022-07-11 | Rope stretching compensation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210853586.0A CN115401679B (en) | 2022-07-11 | 2022-07-11 | Rope stretching compensation device |
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| CN115401679A true CN115401679A (en) | 2022-11-29 |
| CN115401679B CN115401679B (en) | 2024-08-20 |
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| CN202210853586.0A Active CN115401679B (en) | 2022-07-11 | 2022-07-11 | Rope stretching compensation device |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908318A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of small-sized super redundancy flexible mechanical arm |
| CN109732585A (en) * | 2019-03-04 | 2019-05-10 | 吉林大学 | The passive de-coupling mechanism of tandem rope drive System for Joint Motion of Manipulator |
| CN110382179A (en) * | 2017-02-27 | 2019-10-25 | 朝日英达科株式会社 | Executor |
| CN111571574A (en) * | 2020-06-16 | 2020-08-25 | 湖北英特搏智能机器有限公司 | Telescopic movement device with automatic rope tensioning function |
-
2022
- 2022-07-11 CN CN202210853586.0A patent/CN115401679B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110382179A (en) * | 2017-02-27 | 2019-10-25 | 朝日英达科株式会社 | Executor |
| US20190375115A1 (en) * | 2017-02-27 | 2019-12-12 | Asahi Intecc Co., Ltd. | Rope-driven manipulator |
| CN108908318A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of small-sized super redundancy flexible mechanical arm |
| CN109732585A (en) * | 2019-03-04 | 2019-05-10 | 吉林大学 | The passive de-coupling mechanism of tandem rope drive System for Joint Motion of Manipulator |
| CN111571574A (en) * | 2020-06-16 | 2020-08-25 | 湖北英特搏智能机器有限公司 | Telescopic movement device with automatic rope tensioning function |
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| CN115401679B (en) | 2024-08-20 |
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