CN215710829U - Cable winding and unwinding devices and mobile robot - Google Patents
Cable winding and unwinding devices and mobile robot Download PDFInfo
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- CN215710829U CN215710829U CN202121304850.2U CN202121304850U CN215710829U CN 215710829 U CN215710829 U CN 215710829U CN 202121304850 U CN202121304850 U CN 202121304850U CN 215710829 U CN215710829 U CN 215710829U
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Abstract
The utility model discloses a cable winding and unwinding device and a mobile robot, and relates to the technical field of cable winding and unwinding. The cable winding and unwinding device comprises a cable, a winding roller, a driving mechanism and a limiting mechanism. The cable is used for electrically connecting the mobile electric equipment and the power cabinet and is wound on the winding roller, and the driving mechanism is in transmission connection with the winding roller so as to drive the winding roller to wind or release the cable. Limiting mechanism is used for being connected with actuating mechanism, mobile electric device and/or power cabinet communication, and sets up in cable or spiral cylinder to can detect whether the tensile dynamics of cable reaches preset dynamics, send limit signal to actuating mechanism, mobile electric device and/or power cabinet when the tensile dynamics of cable reaches preset dynamics. The cable winding and unwinding device and the mobile robot have the advantages that cables can be wound and unwound, and the cables are not prone to damage.
Description
Technical Field
The utility model relates to the technical field of cable winding and unwinding, in particular to a cable winding and unwinding device and a mobile robot.
Background
In the fields of logistics, warehousing and service automation, the application of mobile robots is more and more common. The power supply method of the mobile robot mainly comprises charging. Due to the limitation of the total capacity of the battery, the rechargeable mobile robot has the disadvantages of regular charging and low load power. For example, when a cargo handling vehicle is operated by a mobile robot (or a mobile device), the mobile robot needs to move back and forth between a platform and a vehicle compartment. Rechargeable mobile robot is difficult to satisfy continuous loading and unloading operation demand, can reduce whole operating efficiency. However, if the mobile robot is powered by a cable, the cable cannot be arbitrarily dragged by the mobile robot on the working surface, so that the cable needs to be extended when the mobile robot moves forward and retracted when the mobile robot moves backward, otherwise the cable is easily twisted, knotted, worn, and leaked.
In view of the above, it is very important to develop a cable winding and unwinding device and a mobile robot capable of solving the above technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a cable winding and unwinding device and a mobile robot, which have the characteristics of being capable of winding and unwinding cables and not prone to damage the cables.
The utility model provides a technical scheme that:
in a first aspect, an embodiment of the present invention provides a cable winding and unwinding device, which includes a cable, a winding drum, a driving mechanism, and a limiting mechanism;
the cable is used for electrically connecting the mobile electric equipment and the power cabinet and is wound on the winding roller, and the driving mechanism is in transmission connection with the winding roller so as to drive the winding roller to wind or release the cable;
the limiting mechanism is used for being in communication connection with the driving mechanism, the mobile electric equipment and/or the power cabinet, is arranged on the cable or the winding roller, and can detect whether the tensile force of the cable reaches a preset force or not, so that when the tensile force of the cable reaches the preset force, a limiting signal is sent to the driving mechanism, the mobile electric equipment and/or the power cabinet.
With reference to the first aspect, in another implementation manner of the first aspect, the limiting mechanism includes a first force sensor, the first force sensor is disposed on the winding drum and connected to one end of the cable far away from the power cabinet, and the first force sensor is capable of detecting a tensile force of the cable connected to one end of the winding drum when the cable on the winding drum is completely released, and is capable of sending a limiting signal when the tensile force reaches a preset force.
With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the limiting mechanism includes a second force sensor, the second force sensor is disposed at an end of the cable away from the winding drum and is used for being connected with a power cabinet, and the second force sensor can send a limiting signal when a tensile strength of the cable reaches or exceeds a preset strength.
With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the limiting mechanism includes a first limiting switch, the first limiting switch is disposed on the winding drum and connected to one end of the cable far away from the power cabinet, and the first limiting switch can be triggered and send a limiting signal when the cable on the winding drum is completely released.
With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the cable winding and unwinding device further includes a winding support, the winding roller is rotatably mounted on the winding support, and the driving mechanism includes a flexible transmission member and a driving member;
the flexible transmission part is sleeved at one end of the driving part and one end of the winding roller to be connected with the driving part and the winding roller in a transmission mode, the driving part is movably arranged on the winding support and can fall under the action of self gravity to tension the flexible transmission part.
With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the driving mechanism further includes a driving tensioning adjusting part, and the driving tensioning adjusting part is respectively connected to the winding support and the driving part, so as to limit a dropping range of the driving part relative to the winding support through the driving tensioning adjusting part.
With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the driving mechanism further includes a one-way transmission member, the one-way transmission member is mounted on the winding roller, the one-way transmission member is sleeved on the one-way transmission member, and the one-way transmission member can unidirectionally drive the winding roller to rotate, so that the winding roller winds the cable.
With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the cable winding and unwinding device further includes a guide part and a guide screw rod, the guide part is in threaded connection with the guide screw rod, the guide screw rod is in transmission connection with the winding drum and is arranged along an axial direction of the winding drum, and the guide part is used for allowing a cable to penetrate out and can move along the guide screw rod when the winding drum rotates.
With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the cable winding and unwinding device further includes a guide sliding part, and the guide sliding part is parallel to the guide screw and is connected to the guide part.
In a second aspect, an embodiment of the present invention further provides a mobile robot, which includes a mobile main body and the cable winding and unwinding device, where the mobile main body is the mobile electric device, and the cable winding and unwinding device is disposed on the mobile main body. The cable winding and unwinding device comprises a cable, a winding roller, a driving mechanism and a limiting mechanism; the cable is used for electrically connecting the mobile electric equipment and the power cabinet and is wound on the winding roller, and the driving mechanism is in transmission connection with the winding roller so as to drive the winding roller to wind or release the cable; the limiting mechanism is used for being in communication connection with the driving mechanism, the mobile electric equipment and/or the power cabinet, is arranged on the cable or the winding roller, and can detect whether the tensile force of the cable reaches a preset force or not, so that when the tensile force of the cable reaches the preset force, a limiting signal is sent to the driving mechanism, the mobile electric equipment and/or the power cabinet.
Compared with the prior art, the cable winding and unwinding device provided by the embodiment of the utility model has the beneficial effects that:
the cable winding and unwinding device comprises a cable, a winding roller, a driving mechanism and a limiting mechanism, wherein the cable is used for electrically connecting the mobile electric equipment and the power cabinet, the cable is wound on the winding roller, and the driving mechanism is in transmission connection with the winding roller to drive the winding roller to rotate so as to wind or release the cable. The limiting mechanism is used for being in communication connection with the driving mechanism or the mobile electric equipment, of course, the limiting mechanism can also be in communication connection with the power cabinet, or simultaneously in communication connection with the driving mechanism, the mobile electric equipment and the power cabinet, the limiting mechanism is arranged on the cable or on the winding roller so as to detect whether the tensile strength of the cable reaches the preset strength through limiting, and therefore, a limiting signal is sent to the driving mechanism, the mobile electric equipment and/or the power cabinet in time when the tensile strength of the cable reaches the preset strength, so that the winding roller is driven to rotate by the driving mechanism to realize the work of automatically winding and releasing the cable, the length of the cable is adjusted in time when the mobile electric equipment moves, the messy condition of the cable is avoided, the dragging condition of the cable on the ground is reduced, the durability of the cable is improved, and the limiting signal is sent out when the cable is excessively dragged by the limiting mechanism, so that actuating mechanism in time stops to drive spiral cylinder rolling cable, or make the removal consumer can in time stop motion, avoid excessively dragging the cable, perhaps make the power cabinet stop the power supply, in order to avoid taking place the electric leakage accident.
Compared with the prior art, the mobile robot provided by the embodiment of the utility model has the same beneficial effects as the cable winding and unwinding device, and the detailed description is omitted.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the utility model and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.
Fig. 1 is a schematic structural diagram of a mobile robot to which a cable reel device according to an embodiment of the present invention is applied.
Fig. 2 is a schematic structural diagram of a cable winding and unwinding device according to an embodiment of the present invention.
Icon: 100-mobile robot; 20-a moving body; 10-a cable pay-off and take-up device; 11-a cable; 12-a winding roller; 13-a drive mechanism; 131-a flexible transmission; 132-a driver; 133-driving the tensioning adjustment; 135-one-way transmission member; 15-rolling the support; 16-a guide mechanism; 161-a guide; 162-guide screw rod; 163-a guide slide; 900-power cabinet.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The terms "upper", "lower", "inner", "outer", "left", "right", and the like, refer to an orientation or positional relationship as shown in the drawings, or as would be conventionally found in use of the products of the present invention, or as would be conventionally understood by one of ordinary skill in the art, and are used merely to facilitate the description and simplify the description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, configuration, and operation in a particular orientation, and therefore should not be construed as limiting the present invention. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It is also to be understood that, unless expressly stated or limited otherwise, the terms "disposed," "connected," and the like are intended to be open-ended, and mean "connected," i.e., fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following detailed description of embodiments of the utility model refers to the accompanying drawings.
Example (b):
referring to fig. 1, fig. 1 is a schematic structural diagram of a mobile robot 100 to which a cable reel 10 according to an embodiment of the present invention is applied.
The embodiment of the utility model provides a cable winding and unwinding device 10, and the cable winding and unwinding device 10 has the characteristics that a cable 11 can be wound and unwound, and the cable 11 is not easy to damage. The cable reel 10 can be applied to a mobile power utilization scene such as the mobile robot 100, and the cable reel 10 can be used independently. When the cable housing apparatus 10 is applied to the mobile robot 100, the cable housing apparatus 10 is provided on the mobile body 20 of the mobile robot 100 to electrically connect the power cabinet 900 and the mobile body 20 through the cable housing apparatus 10. Since the mobile robot 100 employs the cable winding and unwinding device 10 according to the embodiment of the present invention, the mobile robot 100 also has a feature that the cable 11 can be wound and unwound, and the cable 11 is not easily damaged. In the present embodiment, the moving body 20 is a loading robot, and in other embodiments, the moving body 20 may be another moving electric body.
The structural composition, the operation principle and the advantageous effects of the cable winding and unwinding device 10 according to the embodiment of the present invention will be described in detail below.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a cable winding and unwinding device 10 according to an embodiment of the present invention.
The cable winding and unwinding device 10 includes a cable 11, a winding roller 12, a driving mechanism 13 and a limiting mechanism (not shown), wherein the cable 11 is used for electrically connecting the mobile electric device and the power cabinet 900, the cable 11 is wound on the winding roller 12, and the driving mechanism 13 is in transmission connection with the winding roller 12 to drive the winding roller 12 to rotate, so as to wind the cable 11 or release the cable 11. The limiting mechanism is used for being in communication connection with the driving mechanism 13 or the mobile electric device, of course, the limiting mechanism can also be in communication connection with the power cabinet 900, or simultaneously in communication connection with the driving mechanism 13, the mobile electric device and the power cabinet 900, the limiting mechanism is arranged on the cable 11, or arranged on the winding roller 12, so that whether the tensile strength of the cable 11 reaches the preset strength can be detected through limiting, and therefore, when the tensile strength of the cable 11 reaches the preset strength, a limiting signal is sent to the driving mechanism 13, the mobile electric device and/or the power cabinet 900 in time, in this way, the winding roller 12 is driven to rotate by the driving mechanism 13, so that the work of automatically winding and releasing the cable 11 is realized, the length of the cable 11 is adjusted in time when the mobile electric device moves, the messy condition of the cable 11 is avoided, the condition that the cable 11 is dragged on the ground is reduced, and the durability of the cable 11 is improved, and still send spacing signal when cable 11 is excessively drawn through setting up stop gear to actuating mechanism 13 in time stops to drive spiral cylinder 12 rolling cable 11, or makes the removal consumer can in time the stop motion, avoids excessively drawing cable 11, or makes power cabinet 900 stop supplying power, in order to avoid taking place the electric leakage accident.
In the present embodiment, the mobile electric device is the mobile body 20 of the mobile robot 100.
Further, the limiting mechanism may include a first force sensor (not shown) disposed on the winding roller 12, and the first force sensor is connected to one end of the cable 11 far away from the power cabinet 900, or the first force sensor is connected to one end of the cable 11 and the winding roller 12, and the first force sensor can detect a tensile force of the cable 11 connected to one end of the winding roller 12 after the cable 11 on the winding roller 12 is completely released, and can send a limiting signal when the tensile force reaches a preset force. In other words, when the cable 11 is released by the winding roller 12, if the cable 11 on the winding roller 12 is completely released and stretched, the first force sensor is also stretched, and sends a limit signal when the stretching force of the cable 11 detected by the first force sensor reaches the preset force, so that the mobile electric device can stop moving in time, and the cable 11 is prevented from being excessively stretched.
It should be noted that the limiting mechanism may also include a first limiting switch (not shown) disposed on the winding roller 12 and connected to an end of the cable 11 away from the power cabinet 900, in other words, an end of the cable 11 away from the power cabinet 900 is connected to the winding roller 12 through the first limiting switch, so that when the cable 11 on the winding roller 12 is completely released and stretched, the first limiting switch is triggered to send a limiting signal. The mobile electric equipment can stop moving in time, and the cable 11 is prevented from being excessively pulled. The structure is simpler.
In addition, the limiting mechanism may further include a second force sensor (not shown), the second force sensor is disposed at one end of the cable 11 far away from the winding roller 12, and is used for being connected to the power cabinet 900, or the end of the cable 11 far away from the winding roller 12 is electrically connected to the power cabinet 900, and may be structurally connected to the power cabinet 900 through the second force sensor, so that when one end of the cable 11 close to the power cabinet 900 is stretched, whether the stretched stretching force of the cable 11 reaches or exceeds the preset force is detected through the second force sensor, and when the preset force is reached or exceeded, a limiting signal is sent out, so that the driving mechanism 13 can timely stop driving the winding roller 12 to wind the cable 11, or the mobile electric device can timely stop moving, and the cable 11 is prevented from being excessively pulled.
It should be noted that the limit signal may be a switch signal to turn off the power supply of the power supply cabinet 900, or stop the mobile electric device, or stop the driving mechanism 13 from driving the winding drum 12 to rotate, and the limit mechanism may only include one of the first force sensor, the second force sensor, and the first limit switch, or may include any two or all of the above to improve the stability of the limit mechanism.
In addition, in this embodiment, the power supply cabinet may further include a main controller, and the main controller is respectively connected to the driving mechanism 13, the limiting mechanism, the mobile electric device, and the power supply cabinet 900 in a communication manner. When the mobile electric equipment moves forward far away from the power cabinet 900, the main controller of the cable winding and unwinding device 10 can receive a signal and control the driving mechanism 13 to drive the winding roller 12 to rotate reversely so as to release the cable 11, or the winding roller 12 rotates reversely passively under the pulling of the cable 11 so as to make the cable 11 extend out continuously;
after the mobile electric equipment moves to a designated position, the main controller of the cable winding and unwinding device 10 receives a signal of stopping moving, and the winding roller 12 stops reversing and unwinding; in the process, any one sensor of the limiting mechanism sends a limiting signal to indicate that the cable 11 extends to the limit length, and the main controller sends a limiting signal or a stopping signal to the mobile electric equipment so as to stop the mobile electric equipment from advancing in time;
when the mobile electric equipment moves backwards close to the power cabinet 900, the main controller of the cable winding and unwinding device 10 receives a backward movement signal of the mobile electric equipment, and controls the driving mechanism 13 to drive the winding roller 12 to rotate forwards actively, so that the cable 11 is wound on the winding roller 12, and the cable 11 is retracted continuously;
after the mobile electric equipment retreats to a designated position or a starting point, the main controller receives a signal of stopping the retreating, controls the driving mechanism 13 to drive the winding roller 12 to continue to rotate forwards to recover the cable 11 until a limiting signal sent by any sensor of the limiting mechanism is received, and then stops.
It should be understood that the main controller may also be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a voice Processor, a video Processor, and so on; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The main Controller may also be any conventional processor, such as a PLC (Programmable Logic Controller), a single chip, etc. Of course, the main controller may also be a relay contactor control system, and the combination of switches, relays, buttons and other control appliances is adopted to realize the functions of receiving signals, switching circuits, switching on and off, adjusting and the like.
Referring to fig. 2, the cable winding and unwinding device 10 may further include a winding frame 15, the winding roller 12 is rotatably mounted on the winding frame 15, and the driving mechanism 13 may include a flexible transmission member 131 and a driving member 132, wherein the flexible transmission member 131 may be a belt transmission member such as a transmission belt or a chain. The flexible transmission member 131 is sleeved on one end of the driving member 132 and one end of the winding roller 12 to connect the driving member 132 and the winding roller 12 in a transmission manner, the driving member 132 is movably disposed on the winding support 15 and can fall down under the action of gravity, so that the flexible transmission member 131 is automatically tensioned to maintain a stable transmission connection between the winding roller 12 and the driving member 132.
Further, the driving mechanism 13 may further include a driving tension adjusting member 133, and the driving tension adjusting member 133 is connected to the winding frame 15 and the driving member 132, respectively, so as to adjust a dropping range of the driving member 132 relative to the winding frame 15 by driving the tension adjusting member 133, thereby adjusting a tension degree of the flexible tension transmission member 131.
It should be noted that, in the embodiment, the driving member 132 is rotatably connected below the rolling support 15, and the driving tensioning adjusting member 133 is a bolt threadedly connected to the rolling support 15, and can abut against the driving member 132 by rotating the bolt, so as to limit the rotation range of the driving member 132 relative to the rolling support 15, as shown in fig. 2.
In addition, the driving mechanism 13 may further include a one-way transmission element 135, the one-way transmission element 135 is installed on the winding roller 12, the one-way transmission element 135 is sleeved on the flexible transmission element 131, the one-way transmission element 135 can unidirectionally drive the winding roller 12 to rotate, so that the winding roller 12 winds the cable 11, thus, when the driving element 132 rotates forwards, the one-way transmission element 135 can drive the winding roller 12 to rotate forwards, and when the driving element 132 rotates backwards, the winding roller 12 can rotate freely, so that when the winding roller 12 releases the cable 11, the reverse rotation resistance of the winding roller 12 is small, and the cable 11 is conveniently released.
Further, the cable retracting device 10 may further include a guiding mechanism 16, the guiding mechanism 16 may include a guiding element 161 and a guiding screw 162, wherein the guiding element 161 is screwed to the guiding screw 162, the guiding screw 162 is in transmission connection with the winding drum 12 and is disposed along an axial direction of the winding drum 12, the guiding element 161 is used for allowing the cable 11 to pass through and can move along the guiding screw 162 when the winding drum 12 rotates, such that when the winding drum 12 winds up the cable 11, the guiding element 161 can guide the cable 11, thereby winding the cable 11 onto the winding drum 12 more uniformly, and when the winding drum 12 releases the cable 11, the guiding element 161 can also guide the cable 11, so as to gradually release the cable 11.
In addition, the cable retracting device 10 may further include a guide slider 163, wherein the guide slider 163 is parallel to the guide screw 162 and connected to the guide 161, and further, the movement direction of the guide 161 is limited by the guide slider 163, so as to keep the position of the guide 161 stable, and thus the guide 161 can guide the cable 11 more stably.
The working principle of the cable winding and unwinding device 10 provided by the embodiment of the utility model is as follows:
the cable winding and unwinding device 10 comprises a cable 11, a winding roller 12, a driving mechanism 13 and a limiting mechanism, wherein the cable 11 is used for electrically connecting the mobile electric equipment and the power cabinet 900, the cable 11 is wound on the winding roller 12, and the driving mechanism 13 is in transmission connection with the winding roller 12 to drive the winding roller 12 to rotate so as to wind the cable 11 or release the cable 11. The limiting mechanism is used for being in communication connection with the driving mechanism 13 or the mobile electric device, of course, the limiting mechanism can also be in communication connection with the power cabinet 900, or simultaneously in communication connection with the driving mechanism 13, the mobile electric device and the power cabinet 900, the limiting mechanism is arranged on the cable 11, or arranged on the winding roller 12, so that whether the tensile strength of the cable 11 reaches the preset strength can be detected through limiting, and therefore, when the tensile strength of the cable 11 reaches the preset strength, a limiting signal is sent to the driving mechanism 13, the mobile electric device and/or the power cabinet 900 in time, in this way, the winding roller 12 is driven to rotate by the driving mechanism 13, so that the work of automatically winding and releasing the cable 11 is realized, the length of the cable 11 is adjusted in time when the mobile electric device moves, the messy condition of the cable 11 is avoided, the condition that the cable 11 is dragged on the ground is reduced, and the durability of the cable 11 is improved, and still send spacing signal when cable 11 is excessively drawn through setting up stop gear to actuating mechanism 13 in time stops to drive spiral cylinder 12 rolling cable 11, or makes the removal consumer can in time the stop motion, avoids excessively drawing cable 11, or makes power cabinet 900 stop supplying power, in order to avoid taking place the electric leakage accident.
To sum up:
the embodiment of the utility model provides a cable winding and unwinding device 10 which has the characteristics that a cable 11 can be wound and unwound, and the cable 11 is not easy to damage.
The present invention is not limited to the above-described preferred embodiments, but various modifications and changes can be made by those skilled in the art without departing from the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The present embodiments are to be considered as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A cable winding and unwinding device is characterized by comprising a cable (11), a winding roller (12), a driving mechanism (13) and a limiting mechanism;
the cable (11) is used for electrically connecting the mobile electric equipment and the power cabinet (900) and is wound on the winding roller (12), and the driving mechanism (13) is in transmission connection with the winding roller (12) to drive the winding roller (12) to wind or release the cable (11);
stop gear be used for with actuating mechanism (13), remove the consumer and/or power cabinet (900) communication connection, and set up in cable (11) or spiral cylinder (12), and can detect whether the tensile dynamics of cable (11) reaches predetermineeing the dynamics, with the tensile dynamics of cable (11) reaches when predetermineeing the dynamics to actuating mechanism (13), remove the consumer and/or power cabinet (900) send spacing signal.
2. The cable winding and unwinding device according to claim 1, wherein the limiting mechanism comprises a first force sensor, the first force sensor is disposed on the winding drum (12) and connected to an end of the cable (11) far away from the power cabinet (900), and the first force sensor is capable of detecting a tensile force of the cable (11) connected to an end of the winding drum (12) when the cable (11) on the winding drum (12) is completely released, and capable of sending a limiting signal when the tensile force reaches a preset force.
3. The cable winding and unwinding device according to claim 1, wherein the limiting mechanism comprises a second force sensor, the second force sensor is disposed at one end of the cable (11) far away from the winding drum (12) and is used for being connected with a power cabinet (900), and the second force sensor can send a limiting signal when the tensile strength of the cable (11) reaches or exceeds a preset strength.
4. The cable reel device according to claim 1, wherein the limit mechanism comprises a first limit switch, the first limit switch is arranged on the winding roller (12) and is connected with one end of the cable (11) far away from the power cabinet (900), and the first limit switch can be triggered when the cable (11) on the winding roller (12) is completely released and sends out a limit signal.
5. The cable retracting device according to any of claims 1 to 4, wherein said cable retracting device (10) further comprises a winding support (15), said winding roller (12) being rotatably mounted to said winding support (15), said driving mechanism (13) comprising a flexible transmission member (131) and a driving member (132);
the flexible transmission piece (131) is sleeved at one end of the driving piece (132) and one end of the winding roller (12) to be connected with the driving piece (132) and the winding roller (12) in a transmission mode, the driving piece (132) is movably arranged on the winding support (15) and can fall under the action of self gravity to tension the flexible transmission piece (131).
6. The cable retracting device according to claim 5, wherein the driving mechanism (13) further comprises a driving tension adjusting member (133), the driving tension adjusting member (133) is connected with the winding support (15) and the driving member (132) respectively, so as to limit a dropping range of the driving member (132) relative to the winding support (15) through the driving tension adjusting member (133).
7. The cable winding and unwinding device according to claim 6, wherein the driving mechanism (13) further comprises a one-way transmission member (135), the one-way transmission member (135) is mounted on the winding roller (12), the flexible transmission member (131) is sleeved on the one-way transmission member (135), and the one-way transmission member (135) can drive the winding roller (12) to rotate in one direction, so that the winding roller (12) winds the cable (11).
8. The cable retracting device according to any one of claims 1 to 4, wherein the cable retracting device (10) further comprises a guide member (161) and a guide screw (162), the guide member (161) is threadedly connected to the guide screw (162), the guide screw (162) is in transmission connection with the winding drum (12) and is arranged along the axial direction of the winding drum (12), and the guide member (161) is used for allowing the cable (11) to pass through and can move along the guide screw (162) when the winding drum (12) rotates.
9. The cable retracting device according to claim 8, characterized in that said cable retracting device (10) further comprises a guide slide (163), said guide slide (163) being parallel to said guide screw (162) and being connected to said guide (161).
10. A mobile robot, characterized in that it comprises a mobile body (20) and a cable reel as claimed in any one of claims 1 to 9, said mobile body (20) being said mobile electric device, said cable reel being provided on said mobile body (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121304850.2U CN215710829U (en) | 2021-06-10 | 2021-06-10 | Cable winding and unwinding devices and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121304850.2U CN215710829U (en) | 2021-06-10 | 2021-06-10 | Cable winding and unwinding devices and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215710829U true CN215710829U (en) | 2022-02-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121304850.2U Active CN215710829U (en) | 2021-06-10 | 2021-06-10 | Cable winding and unwinding devices and mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215710829U (en) |
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2021
- 2021-06-10 CN CN202121304850.2U patent/CN215710829U/en active Active
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