CN214495241U - Rope tension adjusting device of flying type rope traction parallel robot - Google Patents

Abstract

The utility model discloses a rope tension adjusting device of a flying type rope traction parallel robot, which comprises an extruding body and a matching body; the extrusion body and the matching body are spliced to form a cylindrical body; the extension end of the traction rope is communicated between the extruding body and the matching body; a plurality of ejection limiting structures are arranged at the splicing end part of the extrusion body at intervals; the pushing limiting structure moves to push the traction rope to be embedded into the splicing end of the matching body, and the pushing limiting structure is matched with the matching body to be limited on the traction rope. The utility model provides a flight type rope pulls parallel robot's rope tension adjusting device can effectual tensile effect of regulation haulage rope.

Description

Rope tension adjusting device of flying type rope traction parallel robot

Technical Field

The utility model relates to a flight type rope pulls parallel robot field, especially relates to rope tension adjusting device field.

Background

The aircraft suspends the starting platform through the rope, and the movable platform is provided with the robot, so that the flying type rope traction parallel robot is combined, the robot can move in space position, and the flying type rope traction parallel robot is suitable for field survey, rescue and relief work, emergency transportation and the like; in the suspension process of the ropes, the tension degrees of the different ropes are different, so that the movable platform is easy to unbalance, and the motion of the robot can be influenced; it is therefore necessary to make appropriate adjustments to the degree of tensioning of the rope.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the deficiencies in the prior art, the utility model provides a flight type rope pulls parallel robot's rope tension adjusting device can effectual tensile effect of regulation haulage rope.

The technical scheme is as follows: in order to achieve the above purpose, the technical scheme of the utility model is as follows:

a rope tension adjusting device of a flying type rope traction parallel robot comprises an extruding body and a matching body; the extrusion body and the matching body are spliced to form a cylindrical body; the extension end of the traction rope is communicated between the extruding body and the matching body; a plurality of ejection limiting structures are arranged at the splicing end part of the extrusion body at intervals; the pushing limiting structure moves to push the traction rope to be embedded into the splicing end of the matching body, and the pushing limiting structure is matched with the matching body to be limited on the traction rope.

Further, the device also comprises a fixed block; the fixed block is fixedly arranged on the aircraft; one end of the fixed block, which is far away from the aircraft, is provided with a movable hole; the winding mechanism in the fixed block is in driving connection with one end of the traction rope; the other end of the traction rope penetrates through the movable hole to extend outwards; the edge of the movable hole extends and protrudes towards the extension direction of the traction rope; the convex inner wall is oppositely provided with mounting grooves; the extruding body and the matching body are oppositely installed and embedded in the installation groove respectively, and the driving end of the telescopic device in the installation groove is correspondingly connected with the extruding body and the matching body in a driving way respectively; through grooves are respectively formed in the side walls of the splicing ends of the extrusion body and the matching body in a penetrating manner, and the through grooves in the extrusion body and the matching body are spliced to form through holes; the through hole and the movable hole are coaxially arranged.

Furthermore, a plurality of clamping and embedding grooves are formed in the through grooves in the inner wall of the splicing end of the matching body; the clamping grooves are arranged at intervals along the extension direction of the traction rope; the clamping and embedding groove is arranged corresponding to the ejection limiting structure; the side edges of the clamping and embedding grooves are rounded; the inner wall of one end of the clamping groove, which is far away from the ejection limiting structure, is a curved surface.

Furthermore, a plurality of embedding slot holes are formed in the side wall through groove of the splicing end of the extrusion body corresponding to the embedding slots; the orifice of the embedding slot hole is smaller than the notch of the clamping and embedding slot; the pushing limiting structure is correspondingly embedded in the embedded groove hole; the pushing limiting structure pushes the top end to move, and the pushing traction rope is clamped and embedded in the clamping groove.

Furthermore, the ejection limiting structure comprises an ejection block and a push rod; the push-pull device in the embedded groove hole is in driving connection with one end of the push rod; the other end of the push rod is fixedly provided with a push block; the ejector block moves in and out of the embedded slotted hole, and the ejector block pushes the traction rope.

Furthermore, one end of the ejector block, which is far away from the push rod, is of an arc shape; the arc pushing and extruding traction rope is embedded into the embedded groove, and the arc is matched with the traction rope.

Has the advantages that: the utility model can perform the limiting adjustment function on the traction rope through the extrusion of the extruding body and the matching body; including but not limited to the following benefits:

1) the traction rope penetrates through the protrusion, and the extruding body and the matching body in the protrusion are spliced to extrude the traction rope, so that the traction rope is limited to move up and down, and the traction rope can be prevented from being loosened in the suspension process;

2) the push limit structure in the extrusion body pushes the traction rope card to be embedded into the matching body, so that the traction rope is limited to move, and the plurality of push limit structures can control the traction length of the micro-adjustment traction rope, and further adjust the tension degree of the traction rope.

Drawings

FIG. 1 is a schematic diagram of an adjustment device;

FIG. 2 is a cross-sectional view of a projection;

FIG. 3 is a view showing the structure of an extruded body;

FIG. 4 is a diagram of a structure of a pushing limit structure;

fig. 5 is a top block diagram.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

As shown in the attached figures 1-5: a rope tension adjusting device of a flying type rope traction parallel robot comprises an extruding body 1 and a matching body 2; the extrusion body 1 and the matching body 2 are spliced to form a cylindrical body; the extending end of the traction rope 3 is penetrated between the extruding body 1 and the matching body 2; a plurality of ejection limiting structures 4 are arranged at the splicing end part of the extrusion body 1 at intervals; the pushing limiting structure 4 moves to push the traction rope 3 to be embedded into the splicing end of the matching body 2, and the pushing limiting structure 4 is limited on the traction rope 3 by matching with the matching body 2. The extrusion body and the cooperation body concatenation extrusion haulage rope, and it is internal that the cooperation is embedded with haulage rope ejection to push away the limit structure, just so can control the tensioning degree of adjusting the haulage rope, and then adjusts the tension of haulage rope, avoids the haulage rope loose at the tractive in-process, causes the unbalance of robot.

The device also comprises a fixed block 5; the fixed block 5 is fixedly arranged on the aircraft; one end of the fixed block 5, which is far away from the aircraft, is provided with a movable hole 51; the winding mechanism in the fixed block 5 is in driving connection with one end of the traction rope 3; the other end of the traction rope 3 passes through the movable hole 51 and extends outwards; the edge of the movable hole 51 extends to the extension direction of the traction rope 3 to form a protrusion 52; the inner wall of the bulge 52 is oppositely provided with a mounting groove 53; the extruding body 1 and the matching body 2 are oppositely and respectively installed and embedded in the installation groove 53, and the driving end of the telescopic device in the installation groove 53 is respectively and correspondingly connected with the extruding body 1 and the matching body 2 in a driving way; through grooves 6 are respectively formed in the splicing end side walls of the extrusion body 1 and the matching body 2 in a penetrating manner, and the through grooves 6 on the extrusion body 1 and the through grooves 6 on the matching body 2 are spliced to form through holes 61; the through hole 61 is provided coaxially with the movable hole 51. The aircraft passes through the haulage rope and drives the motion of robot to cooperation body and the extrusion body cooperation in the protrusion carry out spacing fine setting to the haulage rope the length of haulage rope, just so can solve the problem that winding mechanism can not tighten up completely, improve the degree of tightening up of haulage rope, avoid the haulage rope loose, cause the unbalance of moving the platform, influence the transporting of robot.

A plurality of clamping and embedding grooves 21 are formed in through grooves in the inner wall of the splicing end of the matching body 2; the plurality of the embedding grooves 21 are arranged at intervals along the extending direction of the traction rope 3; the clamping and embedding groove 21 is arranged corresponding to the ejection limiting structure 4; the side edge of the clamping groove 21 is rounded; the inner wall of one end of the clamping groove 21, which is far away from the ejection limiting structure 4, is a curved surface 22. When the cooperation body and the extrusion body splice together, the haulage rope passes the perforating hole, and in the limit structure of ejection pushing away pushed away haulage rope embedding inlay card inslot, the haulage rope just so by the restriction up-and-down motion, just so can avoid the tensioning degree of haulage rope after the winding mechanism rolling to cause the movable platform unbalance inadequately, can make the tensioning degree of many haulage ropes unanimous like this, and then guarantee the even running of robot.

A plurality of embedded slotted holes 11 are formed in the through grooves of the splicing end side wall of the extrusion body 1 corresponding to the embedded grooves 21; the orifice of the embedding slot hole 11 is smaller than the notch of the clamping and embedding groove 21; the ejection limiting structures 4 are correspondingly embedded in the embedded slotted holes 11; the pushing end of the pushing limiting structure 4 moves to push the pulling rope 3 to be embedded in the embedding groove 21. In the embedding card slot of pulling rope card in the stop structure motion ejection through-hole of top push, just so can corresponding fine setting haulage rope's length, and then can tighten the haulage rope, just so can adjust the tension of haulage rope, the return wire when avoiding winding mechanism to stop causes the haulage rope loose.

The ejection limiting structure 4 comprises an ejection block 41 and a push rod 42; the push-pull device in the embedded groove hole 11 is in driving connection with one end of the push rod 42; the other end of the push rod 42 is fixedly provided with a push block 41; the ejector block 41 moves in and out of the insertion slot 11, and the ejector block 41 pushes the traction rope 3. The push rod promotes ejector pad ejection haulage rope embedding inlay card inslot, just so can restrict the displacement of haulage rope to set up a plurality of ejector pads and the cooperation of inlay card groove, such a small part haulage rope card embedding inlay card inslot, just can the length of micro-adjustment haulage rope, and then can the tension of regulation control haulage rope, guarantee that the tensioning degree of many haulage ropes is unanimous, guarantee to move the balance of platform.

One end of the ejector block 41, which is far away from the push rod 42, is an arc 421; the arc 421 pushes the pulling rope 3 to be embedded into the embedded groove 21, and the arc 421 is adapted to the pulling rope 3. The arc shape can conveniently clamp the traction rope, the traction rope is pushed and clamped into the clamping and embedding groove, and the arc-shaped edges can be prevented from damaging the traction rope due to the fact that the two ends of the arc shape are rounded.

The above description is of the preferred embodiment of the present invention, and it will be apparent to those skilled in the art that several modifications and variations can be made without departing from the principles of the invention, and these modifications and variations are considered to be within the scope of the invention.

Claims (6)

1. The utility model provides a flight type rope pulls parallel robot's rope tension adjusting device which characterized in that: comprises an extrusion body (1) and a matching body (2); the extrusion body (1) and the matching body (2) are spliced to form a cylindrical body; the extending end of the traction rope (3) is penetrated between the extruding body (1) and the matching body (2); a plurality of ejection limiting structures (4) are arranged at the splicing end part of the extrusion body (1) at intervals; the pushing limiting structure (4) moves to push the traction rope (3) to be embedded into the splicing end of the matching body (2), and the pushing limiting structure (4) is matched with the matching body (2) to be limited on the traction rope (3).

2. The rope tension adjusting device of a flying type rope-pulling parallel robot as claimed in claim 1, wherein: the device also comprises a fixed block (5); the fixed block (5) is fixedly arranged on the aircraft; one end of the fixed block (5) far away from the aircraft is provided with a movable hole (51); the winding mechanism in the fixed block (5) is in driving connection with one end of the traction rope (3); the other end of the traction rope (3) penetrates through the movable hole (51) and extends outwards; the edge of the movable hole (51) extends and protrudes (52) towards the extending direction of the traction rope (3); the inner wall of the bulge (52) is oppositely provided with a mounting groove (53); the extruding body (1) and the matching body (2) are oppositely installed and embedded in the installation groove (53) respectively, and the driving end of the telescopic device in the installation groove (53) is correspondingly connected with the extruding body (1) and the matching body (2) in a driving mode respectively; the side walls of the spliced ends of the extrusion body (1) and the matching body (2) are respectively provided with a through groove (6) in a penetrating way, and the through groove (6) on the extrusion body (1) and the through groove (6) on the matching body (2) are spliced to form a through hole (61); the through hole (61) is coaxial with the movable hole (51).

3. The rope tension adjusting device of a flying type rope-pulling parallel robot as claimed in claim 1, wherein: a plurality of clamping and embedding grooves (21) are formed in the through groove (6) in the splicing end inner wall of the matching body (2); the clamping and embedding grooves (21) are arranged at intervals along the extending direction of the traction rope (3); the clamping and embedding groove (21) is arranged corresponding to the ejection limiting structure (4); the side edge of the clamping groove (21) is rounded; the inner wall of one end, far away from the ejection limiting structure (4), of the clamping groove (21) is a curved surface (22).

4. The rope tension adjusting device of a flying type rope-pulling parallel robot as claimed in claim 1, wherein: a plurality of embedded slotted holes (11) are formed in the side wall through groove (6) of the spliced end of the extrusion body (1) and correspond to the embedded grooves (21); the orifice of the embedding slot hole (11) is smaller than the notch of the clamping and embedding groove (21); the ejection limiting structures (4) are correspondingly embedded in the embedded slotted holes (11); the pushing end of the pushing limiting structure (4) moves to push the pulling rope (3) to be embedded in the embedding groove (21).

5. The rope tension adjusting device of a flying type rope-pulling parallel robot as claimed in claim 4, wherein: the ejection limiting structure (4) comprises an ejection block (41) and a push rod (42); the push-pull device in the embedded slotted hole (11) is in driving connection with one end of the push rod (42); the other end of the push rod (42) is fixedly provided with a push-top block (41); the pushing block (41) moves in and out of the embedded slotted hole (11), and the pushing block (41) pushes the traction rope (3).

6. The rope tension adjusting apparatus of a flying type rope-pulling parallel robot as claimed in claim 5, wherein: one end of the ejector block (41) far away from the push rod (42) is of an arc shape (421); the arc-shaped (421) pushes the traction rope (3) to be embedded into the embedded groove (21), and the arc-shaped (421) is matched with the traction rope (3).

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