CN205704176U - Passive de-coupling mechanism for rope motion coupling - Google Patents

Passive de-coupling mechanism for rope motion coupling Download PDF

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Publication number
CN205704176U
CN205704176U CN201620317349.2U CN201620317349U CN205704176U CN 205704176 U CN205704176 U CN 205704176U CN 201620317349 U CN201620317349 U CN 201620317349U CN 205704176 U CN205704176 U CN 205704176U
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CN
China
Prior art keywords
rope
joint
driving
decoupling
wire
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CN201620317349.2U
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Chinese (zh)
Inventor
陈柏
印亮
华达人
白东明
徐伟
张磊
吴志恒
蒋素荣
席万强
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Nanjing Nuoxi Automation Technology Co Ltd
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Nanjing Nuoxi Automation Technology Co Ltd
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Priority to CN201620317349.2U priority Critical patent/CN205704176U/en
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Abstract

The utility model discloses a kind of passive de-coupling mechanism for rope motion coupling, particularly relate to multiarticulate rope and drive series connection mechanical arm system.This mechanism includes fast pulley, supporting roller, drivewheel, leading block, decoupling rope.Drivewheel is connected with joint link lever, and fast pulley is connected with joint pedestal, utilizes forward and reverse winding of decoupling rope to drive supporting roller, it is achieved supporting roller movement velocity is the 1/2 of joint link lever rotary speed.The forward and reverse winding of the metallic channel on supporting roller pressed by the rope that drives in joint, rear end, so, joint link lever rotates drive rope change in displacement and the change in displacement caused by supporting roller rotation caused and cancels out each other.Driving rope after decoupling mechanism and joint link lever are without relative displacement, it is achieved the mobile decoupling of rope.In the range of this decoupling mechanism can be operated in 0 ~ 300 DEG C, working range is big, simple in construction, compact, reliable.This rope mobile decoupling mechanism and rope drive the supporting installation in joint, it is possible to achieve modularity, applied range.

Description

Passive de-coupling mechanism for rope motion coupling
Technical field
This utility model relates to a kind of passive de-coupling mechanism for rope motion coupling, particularly relates to multiarticulate Rope drives the mechanical arm system of serial kinematic coupling.
Background technology
The mechanical arm volume mass being widely used at present is big, structure is complicated, rigidity is high, load is low from anharmonic ratio, grabs Taking load energy consumption big, efficiency is low.In order to reduce weight and the rotary inertia of mechanical arm, in recent years, much study Rope actuation techniques is applied in cascade machine mechanical arm by personnel.
Rope actuation techniques uses rope transmitting movement and power.Driver element is all installed on pedestal by it, passes through The long-range transmitting movement of rope and power, it is achieved the motion in joint.Because driver element is external, and rope is used to pass Dynamic, the quality of mechanical arm and volume can be greatly reduced, but can introduce the problem of articular couple simultaneously.So-called pass Joint motion coupling refers to that the motion in a joint causes the subsidiary motion in another joint.Series connection machinery is driven at rope In arm, rope can cause the change driving rope in joint, rear end and then cause joint when driving front end joint motions Subsidiary rotation.Two kinds of methods are mainly had: one, use motion control arithmetic to lead currently for joint decoupling Dynamic decoupling, along with increasing of joint, the complexity of control algolithm sharply increases;Two, lasso trick transmission is used, and There is not motion coupling phenomenon, but it is relatively big to rub between rope and lasso trick, and it is non-to there are dead band, gap, sluggishness etc. Linear characteristic, control accuracy and the dynamic response characteristic of mechanical arm are difficult to ensure that.Accordingly, it would be desirable to a kind of new skill Art scheme is to solve the problems referred to above.
Utility model content
Driving mechanical system to drive the motion coupled problem of rope to solve series connection rope, this utility model provides A kind of passive de-coupling mechanism for rope motion coupling, simple and reliable, it is easy to accomplish.
A kind of passive de-coupling mechanism for rope motion coupling that this utility model relates to, it is characterised in that:
Include joint pedestal, fast pulley, supporting roller, drivewheel, current joint connecting rod the most successively;Its Middle fast pulley include fast pulley wheel disc and fast pulley wheel shaft, fast pulley wheel disc and fast pulley wheel shaft mutually be connected and with Joint pedestal is fixing to be connected, it is impossible to relatively rotate;Supporting roller and drivewheel are all installed on fast pulley by bearing and take turns On axle rotatable, but move axially and all limited;Drivewheel is fixing with current joint connecting rod to be connected;
This mechanism also include a left decoupling rope, a right decoupling rope, the left driving in joint, rear end rope, The right driving in joint, piece rear end rope;
Above-mentioned supporting roller includes supporting roller main body, wire disk on front side of the installed in front of supporting roller main body, and rear side is installed Rear side wire disk, front side wire disk is identical with rear side wire disk structure, is all machined with two donut metallic channels, Two donut metallic channels are respectively decoupling rope wire annular groove and drive rope wire annular groove;Decoupling rope wire The radius of annular groove and driving rope wire annular groove is respectively r1,r2;Left fixed pulley mould is also installed above supporting roller main body Block and right fixed pulley module;Left fixed pulley module and right fixed pulley module are by a coaxial mounted decoupling rope Fixed pulley and a driving rope fixed pulley composition;
Below above-mentioned fast pulley be provided with four through holes parallel with axle axis below drivewheel, and through hole Carry out fillet process or install that pulley is respectively used to above-mentioned left decoupling rope, right decoupling rope, a left side, joint, rear end are driven Running rope rope, the guiding of the right driving in joint, rear end rope;
The front end of above-mentioned left decoupling rope is fixed with fast pulley, initially passes through the corresponding through hole on fast pulley afterwards, then Decoupling rope wire annular groove along front side wire disk arrives left fixed pulley module from bottom to top in the direction of the clock, Commutate 180 degree through left fixed pulley module again, then decoupling rope along rear side wire disk is led counterclockwise Wire loop groove from top to bottom, after the corresponding through hole being then passed through on drivewheel, fix with drivewheel by the end of rope;
The front end of above-mentioned right decoupling rope is fixed with fast pulley, initially passes through the corresponding through hole on fast pulley afterwards, then Decoupling rope wire annular groove along front side wire disk arrives right fixed pulley module from bottom to top counterclockwise, Commutate 180 degree through right fixed pulley module again, then decoupling rope along rear side wire disk is led in the direction of the clock Wire loop groove from top to bottom, after the corresponding through hole being then passed through on drivewheel, fix with drivewheel by the end of rope;
The front end of the left driving in joint, above-mentioned rear end rope is for being connected with the driver element in joint, rear end;The most first wear Cross the corresponding through hole on fast pulley, more in the direction of the clock along front side wire disk driving rope wire annular groove from Upper arrival left fixed pulley module down, then commutate 180 degree through left fixed pulley module, then edge counterclockwise The driving rope wire annular groove of rear side wire disk from top to bottom, after the corresponding through hole being then passed through on drivewheel, after The end of the end left driving in joint rope is connected with the swivel link in joint, rear end;
The front end of the right driving in joint, above-mentioned rear end rope is for being connected with the driver element in joint, rear end;The most first wear Cross the corresponding through hole on fast pulley, more counterclockwise along front side wire disk driving rope wire annular groove from Upper arrival right fixed pulley module down, then commutate 180 degree through right fixed pulley module, then edge in the direction of the clock The driving rope wire annular groove of rear side wire disk from top to bottom, after the corresponding through hole being then passed through on drivewheel, after The end of the end right driving in joint rope is connected with the swivel link in joint, rear end;
Clockwise and counterclockwise described in said structure refers both to observe from front to back.
The decoupling method of above-mentioned rope of based on decoupling rope mobile decoupling mechanism, it is characterised in that:
The forward and reverse circular arc cabling utilizing left decoupling rope and right decoupling rope is wound around, it is achieved supporting roller motion angle speed Degree is the half of current joint connecting rod angular velocity of rotation ω, is ω/2, and left decoupling rope and right decoupling rope Rope remains tensioning, it is achieved the forward and reverse reliable driving of supporting roller;
And be wound around by joint, rear end left driving rope and joint, rear end right driving rope forward and reverse circular arc cabling, real Existing joint, rear end left driving rope and the right driving in joint, rear end rope change in displacement rate are supporting roller motion angle speed The 2r of rate ω/22Times, wherein r2For joint, rear end left and right driving rope along the driving on forward and backward wire disk The cabling radius of rope wire annular groove, ω is the angular velocity of rotation of current joint connecting rod;
The end of joint, the rear end left and right driving rope right-hand member caused by current joint link rotatable will produce +ωΔtgr2,-ω Δ tgr2Displacement, being pointed to joint extreme direction along rope direction by driver element end be wherein Just;The right-hand member end of joint, the rear end left and right driving rope caused is rotated by generation-2r by supporting roller2gω/2gΔt、 +2r2The displacement of g ω/2g Δ t, wherein to be pointed to joint extreme direction for just along rope direction by driver element end; Both realize cancelling out each other;The most no matter current joint connecting rod drives how drivewheel rotates, after decoupling mechanism The rear end of joint, rear end left driving rope and joint, rear end right driving rope with current joint connecting rod without phase para-position Move, it is achieved interarticular decoupling.
Compared with prior art, this utility model has the advantage that and effect:
Driving of the present utility model rope motion passive de-coupling mechanism, it is possible to achieve drive rope during joint motions Passive de-coupling, need not actively decouple, simplify motion control arithmetic.This mechanism uses the transmission of cable-pulley Mechanism, frictional force is little, and response performance is good.Big friction, dead band, the sluggishness etc. that avoid lasso trick driving are non-linear Drive characteristic.In the range of this decoupling mechanism can be operated in 0~300 °, working range is big, simple in construction, tight Gather, reliably.This decoupling mechanism drives the supporting installation in joint with rope, it is possible to achieve modularity, applied range, Low cost.
Accompanying drawing explanation
Fig. 1 is the three-dimensional exploded view that this utility model rope drives cascade machine mechanical arm decoupling mechanism;
Fig. 2 is the axonometric chart of follower disk in this utility model decoupling mechanism;
Fig. 3 is the overall structure schematic diagram of this utility model rope mobile decoupling mechanism;
Fig. 4 is the axonometric chart that in this utility model decoupling mechanism, rope is wound around cabling, and wherein the left side is decoupling rope Cabling schematic diagram with rear end joint drive rope;The right drives rope cabling schematic diagram for current joint;
Fig. 5 is the Uncoupled procedure schematic diagram that this utility model drives rope, and wherein the left side is that drivewheel rotates, after The cabling schematic diagram of end joint drive rope;The right rotates for supporting roller, and the cabling of rear end joint drive rope shows It is intended to;
Label title in figure: 1 fast pulley;2 supporting rollers;3 driving wheels;4 current joint connecting rods;5 joint bases Seat;
Wire disk on front side of in the of 21;22 supporting roller main bodys;Wire disk on rear side of in the of 23;24-1 left fixed pulley module;24-2 Right fixed pulley module;25 left decoupling ropes;26 right decoupling ropes;61 current joint left driving rope;62 Current joint right driving rope;The 71 left driving in joint, rear end ropes;The 72 right driving in joint, rear end ropes;After 81 The driver element in end joint;The driver element of 82 current joint;9 rear end joint link levers.
Detailed description of the invention
Accompanying drawing discloses the structural representation that this utility model is involved and is preferable to carry out without limitation, below will The technical solution of the utility model is explained in conjunction with accompanying drawing.
Refer to Fig. 1, shown in 2, it is provided that a kind of driving rope motion quilt driving cascade machine mechanical arm for rope The mechanism of dynamic decoupling.Include joint pedestal 5 the most successively, fast pulley 1, supporting roller 2, drivewheel 3, Current joint connecting rod 4.Wherein fast pulley 1 includes fast pulley wheel disc and fast pulley wheel shaft, and with joint pedestal 5 Fixing connection can not rotate;Supporting roller 2 and drivewheel 3 are all installed on fast pulley wheel shaft rotatably by bearing, But move axially and all limited;Drivewheel 3 is fixing with current joint connecting rod 4 to be connected.This mechanism also includes one 71, rear end of 26, the left driving in joint, rear end rope of the right decoupling rope of 25, one, left decoupling rope is closed Save right driving rope 72;
Wherein, as shown in Figure 1, 2, 3, described fast pulley 1 fastens with joint pedestal 5, fast pulley 1 Sheave surface is machined with wire annular groove, is used for guiding decoupling rope, driving rope cabling, fast pulley wheel disc adds Work has 4 through holes parallel with wheel axis, installs pulley through fillet to rear end after processing or at openings The left driving in joint rope 71, the right driving in joint, rear end rope 72 guide.Fast pulley 1 wheel shaft is multidiameter, axle Shoulder for limiting the axial displacement of supporting roller 2, drivewheel 3, the size of multidiameter need to ensure fast pulley 1, with Driving wheel 2, drivewheel 3 sheave surface are just fitted, and when relatively rotating two-by-two, between card, zerofriction force produces Raw.
Wherein, described supporting roller 2 as in figure 2 it is shown, include supporting roller main body 22, supporting roller main body 22 Wire disk 21 on front side of installed in front, wire disk 23 on rear side of rear side installation, all use screw fastening.Front side wire Dish 21 is identical with rear side wire disk 23 structure, is all machined with two donut wire annular grooves, and two donuts are led Wire loop groove is respectively decoupling rope wire annular groove and drives rope wire annular groove;Decoupling rope wire annular groove and driving The radius of rope wire annular groove is r1,r2;Also install above supporting roller main body 22 left fixed pulley module 24-1 and Right fixed pulley module 24-2;Left fixed pulley module 24-1 and right fixed pulley module 24-2 are by a decoupling rope Fixed pulley and a driving rope fixed pulley composition;Dead eye is had, with bearing outer ring in supporting roller main body 22 Coordinating, bearing inner race coordinates with fast pulley 1 wheel shaft.
Wherein, as shown in Figure 1,3, described drivewheel 3 fastens with current joint connecting rod 4, and sheave surface adds Work has wire annular groove, for guiding decoupling rope, the cabling of driving rope.Four and axle it is machined with on drivewheel The through hole that line is parallel, through hole edge need to process through fillet or install pulley driving left to joint, rear end in openings Rope 71, the right driving in joint, rear end rope 72 guide.Have dead eye on drivewheel 3, join with bearing outer ring Closing, bearing inner race coordinates with fast pulley 1 wheel shaft.
Wherein, as shown in Figure 2,4, described left decoupling rope 25, right decoupling rope 26, servo-actuated for driving Wheel.Rope solid is wound around figure as it is shown on figure 3, rope tension not pressurized, for forward and reverse driving supporting roller, solves Coupling rope is designed as two.The front end of left decoupling rope 25 is fixed with fast pulley 1, initially passes through fast pulley afterwards Corresponding through hole on 1, more in the direction of the clock along front side wire disk 21 decoupling rope wire annular groove under And upper arrival left fixed pulley module 24-1, then commutate 180 degree through left fixed pulley module 24-1, then by the inverse time Pin direction along rear side wire disk 23 decoupling rope wire annular groove from top to bottom, be then passed through on drivewheel 3 After corresponding through hole, the end of rope is fixed with drivewheel 3;The front end of right decoupling rope 26 is solid with fast pulley 1 Fixed, initially pass through the corresponding through hole on fast pulley 1 afterwards, more counterclockwise along front side wire disk 21 Decoupling rope wire annular groove arrives right fixed pulley module 24-2 from bottom to top, then through right fixed pulley module 24-2 Commutate 180 degree, more in the direction of the clock along rear side wire disk 23 decoupling rope wire annular groove from top to bottom, After the corresponding through hole being then passed through on drivewheel 3, the end of rope is fixed with drivewheel 3;When current joint connecting rod 4 when rotating with Fig. 1 direction, drives the equidirectional rotation of drivewheel 3, with the left decoupling rope of drivewheel 3 consolidation 25, right decoupling rope 26, the tensioning of right decoupling rope 26, left decoupling rope 25 relaxes.When front side wire disk 21, the decoupling rope conductor loop groove radius on rear side wire disk 23 is equal to r1Time, supporting roller 2 can be ensured Angular velocity is current joint connecting rod 4 rotational angular velocity ω 1/2 rotated, and caused by drivewheel 3 rotation Fixing end (on drivewheel 3) the displacement size of right decoupling rope 26 is ω Δ tgr1, by right decoupling rope 26 Driving supporting roller 2 causes fixing end (on drivewheel 3) the displacement size of left decoupling rope 25 to be ω/2 Δ t g2r1=ω Δ tgr1, displacement is equal in magnitude.Thereby guarantee that left decoupling rope 25, right decoupling rope 26 will not produce Certain root decoupling rope is the most tight or produces lax phenomenon, it is ensured that the reliability of the forward and reverse driving of supporting roller.
Wherein, as shown in Figure 3,4, the rotation of described current joint connecting rod 4, use two current joint left sides Drive rope 61, current joint right driving rope 62 remote boot server.The left driving rope 61 of current joint, when The end of the upper end of the right driving in front joint rope 62 is fixed on current joint connecting rod 4, the end of lower end with work as Front joint drive unit 82 consolidates.Current joint left driving rope 61, current joint right driving rope 62 twine Being wound on current joint connecting rod 4, current joint left driving rope 61 is wound around counterclockwise, and currently closes Save right driving rope 62 to be wound around in a clockwise direction.When current joint connecting rod 4 is along when rotating such as Fig. 3 direction, Current joint left driving rope 61 is wrapped on current joint connecting rod 4, and current joint right driving rope 62 is from working as Peel off on front joint link lever 4, and the overburden amount rope length corresponding with twining amount is equal, is not result in certain root rope mistake In tight or lax phenomenon, it is ensured that the reliability of the forward and reverse driving of rope.
Wherein, such as Fig. 3, as shown in 5, the left driving in joint, described rear end rope 71, joint, rear end is right drives rope Rope 72, the front end of the left driving in joint, rear end rope 71 is for being connected with the driver element in joint, rear end;First afterwards Through the corresponding through hole on fast pulley 1, then driving rope along front side wire disk 21 is led in the direction of the clock Wire loop groove arrives left fixed pulley module 24-1 from bottom to top, then commutates 180 degree through left fixed pulley module 24-1, The most counterclockwise along rear side wire disk 23 driving rope wire annular groove from top to bottom, be then passed through actively After corresponding through hole on wheel 3, the end of the left driving in joint, rear end rope 71 is for the rotation with joint, rear end even Bar is connected;The front end of the right driving in joint, rear end rope 72 is for being connected with the driver element in joint, rear end;Afterwards Initially pass through the corresponding through hole on fast pulley 1, more counterclockwise along the driving rope of front side wire disk 21 Wire annular groove arrives right fixed pulley module 24-2 from bottom to top, then through right fixed pulley module 24-2 commutation 180 Degree, more in the direction of the clock along rear side wire disk 23 driving rope wire annular groove from top to bottom, be then passed through After corresponding through hole on drivewheel 3, the end of the right driving in joint, rear end rope 72 connects with the rotation in joint, rear end Bar is connected;Owing to the left driving in joint, rear end rope 71, the right driving in joint, rear end rope 72 are along front side wire disk 21, the wire annular groove on rear side wire disk 23 is wound around, and on front side wire disk 21, rear side wire disk 23 Conductor loop groove radius equal, be r2, so supporting roller 2 rotates the left driving in joint, the rear end rope caused 71, the speed of the right driving in joint, rear end rope 72 right end is the 2r of supporting roller turning rate2Times.As Shown in the left figure of Fig. 5, when drivewheel 3 rotates with direction shown in Fig. 3, ω angular velocity, by drivewheel 3 The guiding of upper through hole, the left driving in joint, rear end rope 71 departs from along the wire annular groove on rear side wire disk 23, The right end of the left driving in joint, rear end rope 71 produces+ω Δ tgr2Displacement, and the right driving in joint, rear end rope 72 are wound around along the wire annular groove on rear side wire disk 23, the right end of the right driving in joint, rear end rope 72 Produce-ω Δ tgr2(ω is the angular velocity of rotation of drivewheel 3, r in displacement2For front side wire disk 21, rear side wire On dish 23 drive rope wire annular groove radius, with along rope direction upwards for just).Figure institute as right in Fig. 5 Showing, due to left decoupling rope 25, the driving of right decoupling rope 26, supporting roller 2 follows master with ω/2 angular velocity Driving wheel 3 rotating in same direction, the angle ω Δ t/2 that supporting roller rotates.Because supporting roller 2 rotates the left driving in joint, rear end Rope 71, the speed of the right driving in joint, rear end rope 72 right end are the 2r of supporting roller angular speed2Times, institute With the displacement size of the left driving in joint, rear end rope 71, the right end of the right driving in joint, rear end rope 72 it is ωΔt/2g2r2=ω Δ tgr2.The rotation of supporting roller, causes the left driving in joint, rear end rope 71 to may proceed to along front Wire annular groove on side, rear side wire disk is wound around, and coiling length is ω Δ tgr2, namely the left driving in joint, rear end rope The right-hand member of rope 71 will produce-ω Δ tgr2Displacement.A part for the right driving in joint, rear end rope 72 will along front side, Wire annular groove on rear side wire disk departs from, and departs from a length of ω Δ tgr2, the namely right driving in joint, rear end rope The right-hand member of 72 will produce+ω Δ tgr2Displacement (being just upwards along rope direction).The left driving in joint, rear end rope 71, the right driving in joint, rear end rope 72 is after decoupling module, and the end on the right side of them is with current joint even Bar 4 is without relative movement, it is achieved rope is long to be compensated.Namely two driving ropes in joint, rear end are not because of current joint Rotate and produce and the interarticular relative movement in rear end.Achieve the mobile decoupling of current joint and joint, rear end.

Claims (1)

1. the passive de-coupling mechanism for rope motion coupling, it is characterised in that:
Include the most successively joint pedestal (5), fast pulley (1), supporting roller (2), drivewheel (3), Current joint connecting rod (4);Wherein fast pulley (1) includes fast pulley wheel disc and fast pulley wheel shaft, and fast pulley is taken turns Dish and fast pulley wheel shaft are mutually connected and fix with joint pedestal (5) and be connected and can not rotate;Supporting roller (2) and Drivewheel (3) is all installed on fast pulley wheel shaft rotatably by bearing, but moves axially and all limited;Main Driving wheel (3) is fixing with current joint connecting rod (4) to be connected;
This mechanism also includes a left decoupling rope (25), right decoupling rope (26), a joint, a rear end Left driving rope (71), the right driving in joint, rear end rope (72);
Above-mentioned supporting roller (2) includes supporting roller main body (22), on front side of the installed in front of supporting roller main body (22) Wire disk (21), wire disk (23) on rear side of rear side installation, front side wire disk (21) and rear side wire disk (23) Structure is identical, is all machined with two donut metallic channels, and two donut metallic channels are respectively decoupling rope wire Annular groove and driving rope wire annular groove;The radius of decoupling rope wire annular groove and driving rope wire annular groove is respectively r1,r2;Left fixed pulley module (24-1) and right fixed pulley module (24-2) are also installed in supporting roller main body (22) top; Left fixed pulley module (24-1) and right fixed pulley module (24-2) are fixed by a coaxial mounted decoupling rope Pulley and a driving rope fixed pulley composition;
Above-mentioned fast pulley (1) lower section is provided with four lead to parallel with axle axis with drivewheel (3) lower section Hole, and through hole carries out fillet process or installation pulley is respectively used to above-mentioned left decoupling rope (25), right decoupling rope Rope (26), the left driving in joint, rear end rope (71), the guiding of the right driving in joint, rear end rope (72);
The front end of above-mentioned left decoupling rope (25) is fixed with fast pulley (1), initially passes through fast pulley (1) afterwards On corresponding through hole, more in the direction of the clock along front side wire disk (21) decoupling rope wire annular groove under And upper arrival left fixed pulley module (24-1), then commutate 180 degree through left fixed pulley module (24-1), then Counterclockwise along rear side wire disk (23) decoupling rope wire annular groove from top to bottom, be then passed through actively After corresponding through hole on wheel (3), the end of rope is fixed with drivewheel (3);
The front end of above-mentioned right decoupling rope (26) is fixed with fast pulley (1), initially passes through fast pulley (1) afterwards On corresponding through hole, more counterclockwise along front side wire disk (21) decoupling rope wire annular groove under And upper arrival right fixed pulley module (24-2), then commutate 180 degree through right fixed pulley module (24-2), then In the direction of the clock along rear side wire disk (23) decoupling rope wire annular groove from top to bottom, be then passed through actively After corresponding through hole on wheel (3), the end of rope is fixed with drivewheel (3);
The front end of the left driving in joint, above-mentioned rear end rope (71) is for driver element (81) phase with joint, rear end Even;Initially pass through the corresponding through hole on fast pulley (1) afterwards, more in the direction of the clock along front side wire disk (21) Driving rope wire annular groove arrive left fixed pulley module (24-1) from bottom to top, then through left fixed pulley module (24-1) 180 degree are commutated, more counterclockwise along the driving rope conductor loop of rear side wire disk (23) Groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (3), the end of left driving rope (71) with The swivel link (9) in joint, rear end is connected;
The front end of the right driving in joint, above-mentioned rear end rope (72) is for driver element (81) phase with joint, rear end Even;Initially pass through the corresponding through hole on fast pulley (1) afterwards, more counterclockwise along front side wire disk (21) Driving rope wire annular groove arrive right fixed pulley module (24-2) from bottom to top, then through right fixed pulley module (24-2) 180 degree are commutated, more in the direction of the clock along the driving rope conductor loop of rear side wire disk (23) Groove from top to bottom, after being then passed through the corresponding through hole on drivewheel (3), the end of right driving rope (72) with The swivel link (9) in joint, rear end is connected;
Clockwise and counterclockwise described in said structure refers both to observe from front to back.
CN201620317349.2U 2016-04-15 2016-04-15 Passive de-coupling mechanism for rope motion coupling Withdrawn - After Issue CN205704176U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105798898A (en) * 2016-04-15 2016-07-27 南京若希自动化科技有限公司 Driven decoupling mechanism aimed at rope kinematic coupling and decoupling method thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105798898A (en) * 2016-04-15 2016-07-27 南京若希自动化科技有限公司 Driven decoupling mechanism aimed at rope kinematic coupling and decoupling method thereof

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Granted publication date: 20161123

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