CN115674162B - Wire rope drive unit with one-way clutch - Google Patents
Wire rope drive unit with one-way clutch Download PDFInfo
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- CN115674162B CN115674162B CN202211368260.5A CN202211368260A CN115674162B CN 115674162 B CN115674162 B CN 115674162B CN 202211368260 A CN202211368260 A CN 202211368260A CN 115674162 B CN115674162 B CN 115674162B
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 26
- 239000010959 steel Substances 0.000 claims abstract description 26
- 238000004804 winding Methods 0.000 claims description 12
- 230000008602 contraction Effects 0.000 abstract description 23
- 238000000034 method Methods 0.000 abstract description 19
- 230000008569 process Effects 0.000 abstract description 19
- 210000003205 muscle Anatomy 0.000 abstract description 15
- 206010021118 Hypotonia Diseases 0.000 abstract description 5
- 230000036640 muscle relaxation Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 5
- 210000002027 skeletal muscle Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000002346 musculoskeletal system Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention relates to a steel wire rope driving unit with one-way clutch, which comprises a shell and a driving assembly, wherein the shell comprises a supporting seat, a wire wheel seat and a spring cover which are fixedly assembled in sequence from bottom to top, the driving assembly comprises a gear motor, a torque sensor, a driving wheel, a limiting block, a wire wheel, a spiral spring and a steel wire rope, the bottom end of the supporting seat is fixed on the gear motor, the torque sensor, the driving wheel, the wire wheel and the spiral spring are horizontally arranged in the shell in sequence from bottom to top, the torque sensor is connected with the output end of the gear motor, the driving wheel is fixedly connected with the torque sensor, the wire wheel is matched with the driving wheel through a bearing and a bump, the spiral spring is sleeved on a clamping column and is connected with the clamping column, one end of the steel wire rope is wound on the wire wheel, and the other end of the steel wire rope penetrates out of the shell and is used for connecting a load. The invention can simulate three working modes of muscle centripetal contraction process, muscle centrifugal contraction process and muscle relaxation state respectively, and has comprehensive functions and wide application range.
Description
Technical Field
The invention relates to the technical field of wearable robots, in particular to a steel wire rope driving unit with one-way clutch.
Background
In recent years, wearable robots are increasingly rising and developing. The rope drive has gradually become a mainstream transmission mode widely applied in the design of wearable robots due to the advantages of large load self-weight ratio, high speed precision ratio, high response speed, good flexibility, flexible working mode, strong environment adaptability and the like. As a core component of the wearable robot, the driving unit is similar to skeletal muscle in the human musculoskeletal system, and is a power source for the whole system to operate. For human skeletal muscle, there are typically three modes of operation, centripetal contraction, centrifugal contraction and relaxation. In short, skeletal muscle of the human body can be contracted and relaxed. However, since the steel wire can only transmit tensile force, the conventional rope driving unit can only simulate the centripetal contraction state of the muscles, and interference and constraint can be generated for the other two working states of the target acting muscle group of the wearable robot.
Disclosure of Invention
The invention aims to provide a steel wire rope driving unit with one-way clutch, which solves the problems that the traditional rope driving unit in the prior art can only simulate the centripetal contraction state of muscles and can generate interference and constraint on the centrifugal contraction and relaxation state.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The invention provides a wire rope drive unit with one-way clutch, comprising:
the shell comprises a supporting seat, a wire wheel seat and a spring cover which are fixedly assembled in sequence from bottom to top, wherein the supporting seat is of a cylindrical structure with two open ends;
The driving assembly comprises a gear motor, a torque sensor, a driving wheel, a limiting block, a wire wheel and a spiral spring, wherein a mounting hole is formed in a shell of the output end of the gear motor, the bottom end of the supporting seat is fixed on the mounting hole of the gear motor, and the torque sensor, the driving wheel, the wire wheel and the spiral spring are sequentially and horizontally arranged in the shell from bottom to top;
The torque sensor is connected with the output end of the speed reducing motor, the driving wheel is fixedly connected with the torque sensor, an arc through groove is formed in the outer side wall of the supporting seat along the circumferential direction of the supporting seat, the limiting block is slidably connected in the arc through groove, a signal cable is arranged on the torque sensor, and a through hole for the signal cable to pass through from the inside of the supporting seat to the outside of the supporting seat is formed in the limiting block;
The wire wheel comprises a wire wheel body, wherein a connecting column protruding downwards is integrally formed in the middle of the bottom surface of the wire wheel body, a first concave assembling groove is formed in the bottom end surface of the connecting column, two first convex blocks which are oppositely arranged are integrally formed in the inner side wall of the groove of the first assembling groove, the space in the first assembling groove is divided into a first cavity and a second cavity which are adjacent to each other by the two first convex blocks, the area of the first cavity is larger than that of the second cavity, a second assembling groove with an opening at the top is formed in the middle of the driving wheel body, the second assembling groove is connected with the connecting column in a rotating mode through a first bearing, a second convex block which is matched with and arranged in the first cavity is integrally formed in the bottom surface of the groove of the second assembling groove, so that the second convex block can freely slide along the inner side wall of the groove of the first cavity, and the sliding stroke of the second convex block in the first cavity is equal to the sliding stroke of the limiting block in the arc-shaped through groove;
the middle part of the upper surface of the wire wheel is integrally formed with an upward protruding clamping column, the scroll spring is sleeved on the clamping column, the inner end of the scroll spring is connected with the clamping column, and the outer end of the scroll spring is connected with the spring cover;
one end of the steel wire rope is wound on the wire wheel, and the other end of the steel wire rope penetrates out of the shell and is used for connecting a load.
Further, the torque sensor comprises a disc-shaped shell, the shell of the torque sensor is connected with the output end of the speed reduction motor through a flange, the signal cable is led out upwards from the middle of the shell of the torque sensor, the wire body above the torque sensor is fixed on the upper surface of the shell of the torque sensor, and a cable embedding groove for the signal cable to be embedded in a matched mode from bottom to top is formed in the bottom surface of the driving wheel.
Further, a rope guiding hole is formed in the outer side wall of the supporting seat and located at one end side of the arc-shaped through groove, a fixing seat is fixed in the rope guiding hole, a horizontal sheath pipe is arranged on the outer side of the supporting seat, the sheath pipe is of a cylindrical structure with two open ends, one end of the sheath pipe is connected with the fixing seat, and a channel for the steel wire rope to guide from the supporting seat to the sheath pipe is formed in the fixing seat.
Further, an annular winding groove is formed in the outer side wall of the wire wheel, a through hole in the vertical direction is formed in the upper surface of the wire wheel, an arc groove is formed in the upper surface of the wire wheel, one end of the arc groove extends and is communicated with the through hole, the other end of the arc groove extends and is communicated with the winding groove, a pin is fixedly connected with one end of the wire rope, the pin is assembled in the through hole in a matched mode, and a rope body of the wire rope extends and is wound in the winding groove along the arc groove.
Further, the slot has been seted up along vertical direction on the top of joint post, the rigid coupling has the fixed column that vertical direction set up on the top inner wall of spring cover, the inner of scroll spring is straight plate structure, just the inner of scroll spring is in along the cooperation grafting from top to bottom in the slot, the outer end of scroll spring is crooked folded plate structure, just the outer end hook of scroll spring is detained on the fixed column.
Further, the wire wheel seat is of a cylindrical structure with an open top, the bottom surface of the wire wheel seat is fixed on the upper end surface of the supporting seat, a connecting hole for the clamping column to pass upwards is formed in the bottom surface of the wire wheel seat, the connecting hole is connected with the clamping column through a second bearing, the spring cover is fixed on the open top of the wire wheel seat, so that a closed cavity is formed in the wire wheel seat, the torque sensor, the driving wheel and the wire wheel are all arranged in the supporting seat, and the scroll spring is arranged in the wire wheel seat.
Further, plastic gaskets are respectively fixed between the inner bottom surface of the wire wheel seat and the spiral spring, and between the top inner wall of the spring cover and the spiral spring.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
By arranging the shell and the driving component, based on the fact that the sliding stroke of the second lug in the first cavity is equal to the sliding stroke of the limiting block in the arc-shaped through groove, the pretightening force of the scroll spring is utilized to enable the steel wire rope to always bear force in the contraction direction, namely when the speed reducing motor is not connected, the tail end of the steel wire rope applies load, the steel wire rope drives the wire wheel to rotate clockwise, the steel wire rope is retracted when the load is removed, and the driving wheel is kept motionless in the process; when the gear motor is connected, the load pulls the wire wheel to rotate clockwise until the first lug on the wire wheel contacts with the second lug of the driving wheel, the gear motor is started in the anticlockwise direction, the second lug of the driving wheel drives the first lug on the wire wheel to rotate, and the gear motor actively applies force in the process, so that the effect of pulling the load is achieved; when the gear motor is connected, the load pulls the wire wheel to rotate clockwise until the first lug on the wire wheel contacts with the second lug of the driving wheel, the gear motor starts a damping mode, the first lug on the wire wheel drives the second lug of the driving wheel to rotate, the gear motor passively applies damping force in the process, and the effect of slowing down the load movement is achieved, so that the muscle relaxation state, the muscle centripetal contraction process and the muscle centrifugal contraction process can be simulated respectively according to the running state of the wire wheel, the wire rope driving unit is comprehensive in function, wide in application range and easy to popularize.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Like parts are designated with like reference numerals throughout the drawings. In the drawings:
fig. 1 is an exploded schematic view of an overall structure of a wire rope driving unit according to an embodiment of the present invention;
Fig. 2 is an overall structural assembly schematic diagram of a wire rope driving unit according to an embodiment of the present invention;
Fig. 3 is a schematic side view of a driving wheel of a wire rope driving unit according to an embodiment of the present invention;
Fig. 4 is a schematic side view of a wire wheel of a wire rope driving unit according to an embodiment of the present invention;
fig. 5 is a schematic top view of a wire wheel of a wire rope driving unit according to an embodiment of the present invention;
Fig. 6 is a schematic top view of a wire rope driving unit according to an embodiment of the present invention;
fig. 7 is a schematic bottom view of a wire wheel of a wire rope driving unit according to an embodiment of the present invention;
Fig. 8 is a schematic top view of a driving wheel of a wire rope driving unit according to an embodiment of the present invention;
Fig. 9 is a schematic diagram of an assembly structure of a spiral spring and a spring cover of a wire rope driving unit according to an embodiment of the present invention.
The various references in the drawings are as follows:
1. A support base; 2. a silk wheel seat; 3. a spring cover; 4. a speed reducing motor; 5. a torque sensor; 6. a driving wheel; 7. a limiting block; 8. a wire wheel; 9. a spiral spring; 10. a wire rope; 11. a signal cable; 12. a cable fitting groove; 13. arc through grooves; 14. a through hole; 15. an arc-shaped groove; 16. a pin; 17. a cord guiding-out hole; 18. a fixing seat; 19. a sheath; 20. a connecting column; 21. a first bump; 22. a first cavity; 23. a second cavity; 24. a second fitting groove; 25. a first bearing; 26. a second bump; 27. a clamping column; 28. a slot; 29. fixing the column; 30. a second bearing; 31. a plastic gasket; 32. and a winding slot.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Since the conventional rope driving unit can only simulate the centripetal contraction state of the muscle, interference and constraint can be generated for the centrifugal contraction and relaxation state. The invention provides a steel wire rope driving unit with one-way clutch, which comprises a shell and a driving assembly, wherein the shell comprises a supporting seat, a wire wheel seat and a spring cover which are fixedly assembled in sequence from bottom to top, the driving assembly comprises a gear motor, a torque sensor, a driving wheel, a limiting block, a wire wheel, a spiral spring and a steel wire rope, the sliding stroke of the second lug in a first cavity is equal to the sliding stroke of the limiting block in an arc-shaped through groove, and the steel wire rope is always subjected to force in the contraction direction by the pretightening force of the spiral spring, so that the muscle centripetal contraction process, the muscle centrifugal contraction process and the muscle relaxation state can be respectively simulated according to the matching state of the wire wheel and the gear motor.
The following is a detailed description of the embodiments of the present invention by way of examples.
Examples
As shown in fig. 1 and 2, the present invention provides a wire rope driving unit with one-way clutch, which includes a housing and a driving assembly, and is specifically provided as follows:
The shell comprises a supporting seat 1, a wire wheel seat 2 and a spring cover 3 which are fixedly assembled from bottom to top in sequence. The supporting seat 1 is a cylindrical structure with two open ends. The driving assembly comprises a gear motor 4, a torque sensor 5, a driving wheel 6, a limiting block 7, a wire wheel 8, a spiral spring 9 and a wire rope 10. The gear motor 4 is provided with a mounting hole on the shell of the output end, the bottom end of the supporting seat 1 is fixed on the mounting hole of the gear motor 4, and the torque sensor 5, the driving wheel 6, the wire wheel 8 and the spiral spring 9 are sequentially and horizontally arranged in the shell from bottom to top.
Further, the torque sensor 5 is connected to an output end of the gear motor 4, and the torque sensor 5 has a signal cable 11 thereon. The driving wheel 6 is fixedly connected with the torque sensor 5. Wherein preferably the torque sensor 5 comprises a disc-shaped housing. The outer shell of the torque sensor 5 is connected with the output end of the gear motor 4 through a flange. The signal cable 11 is led out upwards from the middle part of the torque sensor 5 shell, and a wire body of the signal cable 11 arranged above the torque sensor 5 is fixed on the upper surface of the torque sensor 5 shell. A cable insertion groove 12 (refer to fig. 3) into which the signal cable 11 is inserted from bottom to top is formed in the bottom surface of the driving wheel 6. The signal cable 11 is bundled through the cable insertion groove 12 so as to avoid the signal cable 11 from affecting the fixed assembly between the torque sensor 5 and the driving wheel 6.
An arc through groove 13 is formed in the outer side wall of the supporting seat 1 along the circumferential direction of the supporting seat 1, and the limiting block 7 is slidably connected in the arc through groove 13. The limiting block 7 is provided with a wire through hole for the signal cable 11 to pass through from the inside of the supporting seat 1 to the outside of the supporting seat 1. Through the arrangement of the structure, when the gear motor 4 runs, the torque sensor 5 rotates and drives the driving wheel 6 to synchronously rotate, preferably, the limiting block 7 can be fixed on the outer side wall of the driving wheel 6 through screw connection, so that the limiting block 7 slides in the arc-shaped through groove 13 under the driving of the gear motor 4, and the mechanical limiting in the rotation process of the driving wheel 6 is formed by the matching of the limiting block 7 and the arc-shaped through groove 13.
Further, one end of the wire rope 10 is wound around the wire wheel 8, and the other end of the wire rope 10 is passed out of the housing for connection to a load. Specifically, as shown in fig. 4 and 5, an annular winding groove 32 is formed on the outer side wall of the wire wheel 8, a through hole 14 in the vertical direction is formed on the upper surface of the wire wheel 8, and an arc groove 15 is formed on the upper surface of the wire wheel 8. One end of the arc-shaped groove 15 extends and communicates with the through-hole 14, and the other end of the arc-shaped groove 15 extends and communicates with the winding groove 32. One end of the wire rope 10 is fixedly connected with a pin 16 (see fig. 1), the pin 16 is matched and assembled in the through hole 14, and the rope body of the wire rope 10 extends along the arc-shaped groove 15 and is wound in the winding groove 32. By this configuration, one end of the wire rope 10 is stably fixed to the wire wheel by the engagement of the pin 16 and the through hole 14, and the wire rope 10 can be stably wound in the winding groove 32 of the wire wheel 8 when being contracted by the configuration of the arc groove 15. In addition, a wire guiding hole 17 is formed in the outer side wall of the support seat 1 at one end side of the arc-shaped through groove 13, and a fixing seat 18 is fixed in the wire guiding hole 17. A horizontal sheath tube 19 is provided outside the support base 1, the sheath tube 19 has a cylindrical structure with both ends open, and one end of the sheath tube 19 is connected to the fixing base 18 (see fig. 1 and 6). Wherein, a channel for guiding the wire rope 10 from the support base 1 to the sheath tube 19 is formed in the fixing base 18. By this arrangement, the wire rope 10 is controlled to be smoothly extended or contracted under the guiding action of the sheath tube 19.
Further, as shown in fig. 4 and 7, a connecting post 20 protruding downward is integrally formed in the middle of the bottom surface of the wire wheel 8. The connecting post 20 has a first fitting groove formed on a bottom end surface thereof. Two first protruding blocks 21 which are oppositely arranged are integrally formed on the inner side wall of the first assembly groove, and the space in the first assembly groove is divided into a first cavity 22 and a second cavity 23 which are adjacent by the two first protruding blocks 21. The area of the first cavity 22 is larger than the area of the second cavity 23. The driving wheel 6 has a second fitting groove 24 (refer to fig. 1 and 8) opened at the top in the middle, and the second fitting groove 24 is rotatably connected with the connecting post 20 through a first bearing 25. A second projection 26 fitted into the first cavity 22 is integrally formed on the bottom surface of the second fitting groove 24 so that the second projection 26 can freely slide along the inner side wall of the groove of the first cavity 22. And the sliding travel of the second bump 26 in the first cavity 22 is equal to the sliding travel of the limiting block 7 in the arc-shaped through groove 13. Preferably, the top view structures of the first bump 21 and the second bump 26 are both "V" -shaped structures.
By the arrangement of this structure, the driving wheel 6 and the wire wheel 8 are rotated independently by the arrangement of the first bearing 25. Based on the fact that the sliding travel of the second protruding block 26 in the first cavity 22 is equal to the sliding travel of the limiting block 7 in the arc-shaped through groove 13, the wire wheel 8 can control the wire rope 10 to always receive force in the contraction direction (anticlockwise direction in the embodiment) under the pretightening force of the spiral spring, namely when the speed reducing motor 4 is not connected, the tail end of the wire rope 10 applies load, the wire rope 10 drives the wire wheel 8 to rotate, the wire rope 10 is retracted after the load is removed, and the driving wheel 6 can be kept motionless in the process; when the gear motor 4 is connected, the load pulls the wire wheel 8 to rotate clockwise until the first lug 21 on the wire wheel 8 contacts with the second lug 26 on the driving wheel 6, at this time, the gear motor 4 is started in the anticlockwise direction, the second lug 26 on the driving wheel 6 drives the first lug 21 on the wire wheel 8 to rotate, so that the wire wheel 8 is driven to rotate, and the gear motor 4 actively applies force in the process to play a role of pulling the load.
Further, as shown in fig. 1 and 4, the middle part of the upper surface of the wire wheel 8 is integrally formed with an upward protruding clamping post 27, the spiral spring 9 is sleeved on the clamping post 27, the inner end of the spiral spring 9 is connected with the clamping post 27, and the outer end of the spiral spring 9 is connected with the spring cover 3. Specifically, the top end of the clamping post 27 is provided with a slot 28 along the vertical direction. As shown in fig. 9, a fixing column 29 is fixedly connected to the top inner wall of the spring cover 3. The inner end of the scroll spring 9 is in a straight plate structure, and the inner end of the scroll spring 9 is matched and inserted in the slot 28 along the direction from top to bottom. The outer end of the spiral spring 9 is in a bent folded plate structure, and the outer end of the spiral spring 9 is hooked on the fixed post 29. By this arrangement, the spiral spring 9 is fixed.
Further, referring back to fig. 1 and 2, the wire wheel seat 2 is a cylindrical structure with an open top. The bottom surface of the wire wheel seat 2 is fixed on the upper end surface of the supporting seat 1, and a connecting hole for the clamping column 27 to pass upwards is arranged on the bottom surface of the wire wheel seat 2. The connecting hole is connected with the clamping post 27 through a second bearing 30. The spring cover 3 is fixed on the top opening of the wire wheel seat 2, so that a closed cavity is formed in the wire wheel seat 2. The torque sensor 5, the driving wheel 6 and the wire wheel 8 are all arranged in the supporting seat 1, and the spiral spring 9 is arranged in the wire wheel seat 2. Wherein, a plastic gasket 31 is respectively fixed between the inner bottom surface of the wire wheel seat 2 and the spiral spring 9, and between the top inner wall of the spring cover 3 and the spiral spring 9. By the arrangement of the structure, before the spring cover 3 and the wire wheel seat 2 are fixed, the spiral spring 9 needs to be rotated anticlockwise for a plurality of circles, so that the spiral spring 9 is pre-tensioned, and the pre-tensioning force of the spiral spring 9 is utilized to enable the wire rope 10 to always receive force in the contraction direction.
Based on the steel wire rope driving unit structure, the muscle centripetal contraction process, the muscle centrifugal contraction process and the muscle relaxation state can be simulated respectively:
imitate the process of muscle centripetal contraction: the one-way clutch is engaged, the gear motor 4 actively rotates anticlockwise to drive the wire wheel 8 to rotate to take up the rope, power is transmitted to the executing mechanism, and the gear motor 4 does positive work in the process, so that electric energy is consumed;
Imitate the centrifugal contraction process of muscle: the one-way clutch is connected, the wire wheel 8 drives the gear motor 4 to passively rotate clockwise to unwind the rope, meanwhile, a passive damping circuit in a driving circuit of the gear motor 4 can generate damping force, and in the process, the gear motor 4 is in a braking state and does negative work, and the passively generated electric energy can be effectively collected;
mimicking a muscle relaxation state: the one-way clutch is separated, the steel wire rope 10 is only preloaded by the spiral spring 9 and is in a low tension state, the wire wheel 8 can freely move within the stroke range, and the gear motor 4 does not apply work in the process, so that no electric energy is lost.
The steel wire rope driving unit has the following advantages:
1. The steel wire rope driving unit integrates the mechanical one-way clutch, the spiral spring 9 and the passive damping circuit on the basis of the traditional rope driving unit, is easy to implement and has strong adaptability;
2. The steel wire rope driving unit has the capability of simulating three working modes of muscle centripetal contraction, centrifugal contraction and relaxation, and has comprehensive functions and wide application range;
3. The steel wire rope driving unit consists of the driving wheel 6, the wire wheel 8 and the spiral spring 9 to form a purely mechanical one-way clutch, and has the advantages of simple structure, compact layout, low manufacturing cost and easy implementation and popularization.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A wire rope drive unit with one-way clutch, characterized in that the wire rope drive unit comprises:
the shell comprises a supporting seat, a wire wheel seat and a spring cover which are fixedly assembled in sequence from bottom to top, wherein the supporting seat is of a cylindrical structure with two open ends;
The driving assembly comprises a speed reducing motor, a torque sensor, a driving wheel, a limiting block, a wire wheel, a spiral spring and a wire rope, wherein the speed reducing motor is fixed on the supporting seat, and the torque sensor, the driving wheel, the wire wheel and the spiral spring are sequentially and horizontally arranged in the shell from bottom to top;
The torque sensor is connected with the output end of the speed reducing motor, the driving wheel is fixedly connected with the torque sensor, an arc through groove is formed in the outer side wall of the supporting seat along the circumferential direction of the supporting seat, the limiting block is slidably connected in the arc through groove, a signal cable is arranged on the torque sensor, and a through hole for the signal cable to pass through from the inside of the supporting seat to the outside of the supporting seat is formed in the limiting block;
The wire wheel comprises a wire wheel body, wherein a connecting column protruding downwards is integrally formed in the middle of the bottom surface of the wire wheel body, a first concave assembling groove is formed in the bottom end surface of the connecting column, two first convex blocks which are oppositely arranged are integrally formed in the inner side wall of the groove of the first assembling groove, the space in the first assembling groove is divided into a first cavity and a second cavity which are adjacent to each other by the two first convex blocks, the area of the first cavity is larger than that of the second cavity, a second assembling groove with an opening at the top is formed in the middle of the driving wheel body, the second assembling groove is connected with the connecting column in a rotating mode through a first bearing, a second convex block which is matched with and arranged in the first cavity is integrally formed in the bottom surface of the groove of the second assembling groove, so that the second convex block can freely slide along the inner side wall of the groove of the first cavity, and the sliding stroke of the second convex block in the first cavity is equal to the sliding stroke of the limiting block in the arc-shaped through groove;
the middle part of the upper surface of the wire wheel is integrally formed with an upward protruding clamping column, the scroll spring is sleeved on the clamping column, the inner end of the scroll spring is connected with the clamping column, and the outer end of the scroll spring is connected with the spring cover;
One end of the steel wire rope is wound on the wire wheel, and the other end of the steel wire rope penetrates out of the shell and is used for connecting a load;
The top end of the clamping column is provided with a slot along the vertical direction, the top inner wall of the spring cover is fixedly connected with a fixing column arranged along the vertical direction, the inner end of the scroll spring is of a straight plate structure, the inner end of the scroll spring is matched and inserted in the slot along the direction from top to bottom, the outer end of the scroll spring is of a bent folded plate structure, and the outer end of the scroll spring is hooked and buckled on the fixing column;
The wire wheel seat is of a cylindrical structure with an open top, the bottom surface of the wire wheel seat is fixed on the upper end surface of the supporting seat, a connecting hole for the clamping column to pass upwards is formed in the bottom surface of the wire wheel seat, the connecting hole is connected with the clamping column through a second bearing, the spring cover is fixed on the open top of the wire wheel seat, so that a closed cavity is formed in the wire wheel seat, the torque sensor, the driving wheel and the wire wheel are all arranged in the supporting seat, and the scroll spring is arranged in the wire wheel seat.
2. A wire rope drive unit with one-way clutch as defined in claim 1, wherein: the torque sensor comprises a disc-shaped shell, the shell of the torque sensor is connected with the output end of the gear motor through a flange, the signal cable is led out upwards from the middle of the shell of the torque sensor, the signal cable is arranged on the upper surface of the shell of the torque sensor, the wire body above the torque sensor is fixed on the upper surface of the shell of the torque sensor, and a cable embedding groove for the signal cable to be embedded in a matched mode from bottom to top is formed in the bottom surface of the driving wheel.
3. A wire rope drive unit with one-way clutch as claimed in claim 2, characterized in that: the outer side wall of the supporting seat is provided with a rope guiding hole at one end side of the arc-shaped through groove, a fixing seat is fixed in the rope guiding hole, a horizontal sheath pipe is arranged at the outer side of the supporting seat, the sheath pipe is of a cylindrical structure with two open ends, one end of the sheath pipe is connected with the fixing seat, and a channel for the steel wire rope to guide from the supporting seat to the sheath pipe is formed in the fixing seat.
4. A wire rope drive unit with one-way clutch according to claim 3, characterized in that: the wire winding device comprises a wire wheel, and is characterized in that an annular winding groove is formed in the outer side wall of the wire wheel, a through hole in the vertical direction is formed in the upper surface of the wire wheel, an arc-shaped groove is formed in the upper surface of the wire wheel, one end of the arc-shaped groove extends and is communicated with the through hole, the other end of the arc-shaped groove extends and is communicated with the winding groove, a pin is fixedly connected with one end of the wire rope, the pin is assembled in the through hole in a matched mode, and a rope body of the wire rope extends along the arc-shaped groove and is wound in the winding groove.
5. A wire rope drive unit with one-way clutch as defined in claim 1, wherein: plastic gaskets are respectively fixed between the inner bottom surface of the wire wheel seat and the spiral spring, and between the top inner wall of the spring cover and the spiral spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211368260.5A CN115674162B (en) | 2022-11-03 | 2022-11-03 | Wire rope drive unit with one-way clutch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211368260.5A CN115674162B (en) | 2022-11-03 | 2022-11-03 | Wire rope drive unit with one-way clutch |
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| Publication Number | Publication Date |
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| CN115674162A CN115674162A (en) | 2023-02-03 |
| CN115674162B true CN115674162B (en) | 2024-05-31 |
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| CN202211368260.5A Active CN115674162B (en) | 2022-11-03 | 2022-11-03 | Wire rope drive unit with one-way clutch |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006322354A (en) * | 2005-05-18 | 2006-11-30 | Mitsubishi Heavy Ind Ltd | Method for starting small-sized internal combustion engine, and spiral spring type starter device |
| CN108975201A (en) * | 2018-07-17 | 2018-12-11 | 项赛赛 | A kind of hoisting mechanism based on low-power machine driving that municipal works use |
| CN109592398A (en) * | 2018-12-12 | 2019-04-09 | 福州麦辽自动化设备有限公司 | A kind of transfer robot |
| CN110748623A (en) * | 2019-10-14 | 2020-02-04 | 北京大学 | Flexible wire driving device |
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2022
- 2022-11-03 CN CN202211368260.5A patent/CN115674162B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006322354A (en) * | 2005-05-18 | 2006-11-30 | Mitsubishi Heavy Ind Ltd | Method for starting small-sized internal combustion engine, and spiral spring type starter device |
| CN108975201A (en) * | 2018-07-17 | 2018-12-11 | 项赛赛 | A kind of hoisting mechanism based on low-power machine driving that municipal works use |
| CN109592398A (en) * | 2018-12-12 | 2019-04-09 | 福州麦辽自动化设备有限公司 | A kind of transfer robot |
| CN110748623A (en) * | 2019-10-14 | 2020-02-04 | 北京大学 | Flexible wire driving device |
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| CN115674162A (en) | 2023-02-03 |
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