CN215854448U

CN215854448U - Tension-controllable non-slip ring type take-up and pay-off mechanism

Info

Publication number: CN215854448U
Application number: CN202121722969.1U
Authority: CN
Inventors: 宛敏红; 周维佳; 张赵威
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2022-02-18
Anticipated expiration: 2031-07-28

Abstract

The utility model relates to a take-up and pay-off device, in particular to a tension-controllable non-slip ring type take-up and pay-off mechanism. The winding device comprises a winding arm, a cable positioning component, a cable, a winding drum and a bracket, wherein the cable positioning component and the winding drum are arranged on the bracket; the winding arm has two degrees of freedom and is used for winding and unwinding and arranging cables respectively, and the cable positioning assembly is used for positioning the cables. The utility model utilizes the two-degree-of-freedom winding arm to actively wind the cable, can meet the real-time dynamic following power supply requirement of the mobile robot in an extreme environment, and greatly improves the power supply safety and reliability.

Description

Tension-controllable non-slip ring type take-up and pay-off mechanism

Technical Field

The utility model relates to a take-up and pay-off device, in particular to a tension-controllable non-slip ring type take-up and pay-off mechanism.

Background

With the development of the robot technology, the application fields of the mobile robot are wider and wider, including the cooperative operation of multiple robots in an industrial production line, the home-use service robot, the operation robot in an extreme environment and the like, wherein the operation robot in the extreme environment has extremely high requirements on the reliability and the service life of a robot system, such as a nuclear power station detection robot, a space station out-of-cabin robot, an underwater robot and the like. One of the key technologies to be solved by the mobile robot is the dynamic retraction of the power supply and the electric signal cable. Although the rechargeable battery technology and the wireless communication technology have been developed, in extreme environments, a cable type power supply is usually adopted to ensure reliable power supply and communication. The cable is adopted for power supply (including a power supply and a signal), and the key problem to be solved is how to realize dynamic following type wire collection and wire release on a moving target.

The take-up and pay-off mechanism commonly used in the industry is mostly of a drum-type structure adopting a slip ring device, and the motor drives a drum to rotate so as to tighten and release the cable. The application of the device in the field of mobile robots in special environments has two problems, and the first problem is that the slip ring device causes low reliability and short service life of a system. The conductive slip ring realizes that the structure keeps circuit communication in the rotating process through sheet metal contact sliding, and the technology easily causes the fault problems of unstable contact and even short circuit and the like under special environments such as space and underwater and under the influence of dust and water vapor. In addition, the friction transmission mechanism has larger abrasion in work and generally has shorter service life; the second problem is that dynamic following of the mobile robot is difficult to achieve, the mobile robot moves relatively randomly and is high in dynamic performance, and the traditional take-up and pay-off mechanism does not have sensing capability and is difficult to achieve autonomous following of a dynamic target.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, an object of the present invention is to provide a tension-controllable non-slip ring type take-up and pay-off mechanism, so as to solve the problem that the tension cannot be controlled by using a conductive slip ring device in the prior art, and the real-time dynamic following power supply requirement of a mobile robot in an extreme environment cannot be met.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a tension-controllable non-slip ring type take-up and pay-off mechanism comprises a winding arm, a cable positioning assembly, a cable, a winding drum and a bracket, wherein the cable positioning assembly and the winding drum are arranged on the bracket; the winding arm has two degrees of freedom of winding and winding displacement and is used for winding, unwinding and arranging cables, and the cable positioning assembly is used for positioning the cables.

The winding arm comprises a linear motion platform and a rotating arm connected with the output end of the linear motion platform, and the linear motion platform is arranged on the inner wall of the winding drum and has a degree of freedom for moving along the axial direction of the winding drum;

the rotating arm has a degree of freedom of rotation about an axis of the bobbin.

The linear motion platform comprises a motor I, an encoder I, a screw rod, a nut, a sliding table and a base, wherein the base is connected with the inner wall of the winding drum, and the screw rod is rotatably arranged on the base and is parallel to the axis of the winding drum; the screw nut is in threaded connection with the lead screw, and the sliding table is connected with the screw nut; the motor I is arranged on the base, and the output end of the motor I is connected with the lead screw through a gear transmission mechanism; encoder I set up in the tip of motor I.

The rotating arm comprises a motor II, an encoder II, a planet wheel reducer, a rotating connecting rod, a direction-adjusting connecting rod, a groove roller wheel assembly I and a limiting ring, wherein the planet wheel reducer is arranged on the linear motion platform, the input end of the planet wheel reducer is connected with the output shaft of the motor II, and the encoder II is arranged at the rear end of the motor II;

one end of the rotating connecting rod is connected with an output shaft of the planet wheel speed reducer, the other end of the rotating connecting rod is connected with a direction adjusting connecting rod, and the direction adjusting connecting rod is positioned on the outer side of the winding reel;

the direction-adjusting connecting rod is provided with a plurality of groups of groove roller assemblies I and a plurality of limiting rings positioned on the outer sides of the plurality of groups of groove roller assemblies I; the cable passes through multiunit recess roller components I in proper order, and prevents through a plurality of spacing rings to drop.

The front end of the direction-adjusting connecting rod is provided with two cylindrical roller assemblies I, and the cable is clamped between the two cylindrical roller assemblies I.

The cable positioning assembly comprises a lower support, a front support and a rear support, wherein the lower end of the lower support is connected with the support, the top of the lower support is provided with the front support and the rear support, and the front support and the rear support are used for positioning the cable.

The front support and the rear support are respectively provided with four cylindrical roller assemblies II, and the four cylindrical roller assemblies II are arranged in a square shape, so that a wire passing hole is formed.

The tension-controllable non-slip ring type take-up and pay-off mechanism further comprises a force measuring assembly, wherein the force measuring assembly is arranged at the front end of the cable positioning assembly and is used for measuring the tension of the cable in real time.

The force measuring assembly comprises a bottom plate, a pressure sensor, a left upright post, a right upright post, a pressing plate assembly and a groove roller assembly II, wherein the bottom plate is connected with the cable positioning assembly, and the left upright post and the right upright post are connected with the bottom plate; the pressure sensor is arranged on the bottom plate and is positioned between the left upright post and the right upright post;

the pressure plate assembly is connected with the left upright post and the right upright post in a sliding manner and is connected with the pressure sensor; and the groove roller assembly II is arranged on the pressing plate assembly and used for guiding the cable.

The pressure plate assembly comprises a pressure plate, a left pressure spring, a right pressure spring and a sliding pressure plate, wherein the pressure plate and the sliding pressure plate are both connected with the left upright post and the right upright post in a sliding manner, and the pressure plate is connected with the pressure sensor; the left pressure spring and the right pressure spring are respectively sleeved on the left upright post and the right upright post and are limited between the sliding pressure plate and the pressure plate.

The utility model has the advantages and beneficial effects that:

the cable power supply system is suitable for high-reliability cable power supply in extreme environments: the traditional conductive sliding ring type take-up and pay-off mechanism adopts a metal sheet contact sliding type power supply, has low reliability, and is easy to cause accidents such as short circuit and the like in extreme environments, such as damp and occasions with much conductive dust. The utility model utilizes the two-degree-of-freedom winding arm to actively wind the cable, can avoid using the conductive slip ring, and greatly improves the power supply safety and reliability.

Intelligent dynamic self-adaptive take-up and pay-off control: the system is provided with the force measuring device, can measure the tension of the cable in real time, and can realize dynamic self-adaptive take-up and pay-off control on the moving target by combining a control algorithm. In addition, the force measuring device adopts a compression spring buffering technology, so that a certain position following error can be allowed to exist at two ends of the cable, the requirement on the control precision of the cable winding and unwinding position is lowered, and the reliability of a control system is improved.

The cable arranging device is suitable for orderly arranging cables with different wire diameters: the traditional take-up and pay-off mechanism is difficult to arrange cables in order, and the cables with different wire diameters can be arranged in order by utilizing the two-degree-of-freedom winding arm to actively wind wires and adjusting the speed relation between a winding motor and a wire arranging motor.

Drawings

FIG. 1 is an isometric view of a tension controllable non-slip ring type take-up and pay-off mechanism of the present invention;

FIG. 2 is a schematic view of a winding arm according to the present invention;

FIG. 3 is a schematic structural view of the linear motion platform of the present invention;

FIG. 4 is a schematic structural view of a winding mechanism according to the present invention;

FIG. 5 is a schematic structural view of a grooved roller assembly according to the present invention;

FIG. 6 is a schematic structural view of a cylindrical roller assembly according to the present invention;

FIG. 7 is a schematic view of a force measuring assembly according to the present invention;

FIG. 8 is a schematic view of the cable guide assembly of the present invention;

in the figure: 1 is a winding arm, 11 is a linear motion platform, 111 is a motor I, 112 is a coder I, 113 is a driving gear, 114 is a driven gear, 115 is a lead screw, 116 is a nut, 117 is a sliding table, 118 is a base, 12 is a rotating arm, 121 is a motor II, 122 is a coder II, 123 is a planet wheel reducer, 124 is a rotating connecting rod, 125 is a steering connecting rod, 1251 is an L-shaped rod, 1252 is an arc-shaped rod, 126 is a groove roller assembly I, 1261 is a groove roller, 1262 is a rotating shaft I, 1263 is a bearing I, 1264 is a retainer ring I, 127 is a limiting ring, 128 is a cylindrical roller assembly I, 1281 is a cylindrical roller, 1282 is a rotating shaft II, 1283 is a bearing II, 1284 is a retainer ring II, 2 is a force measuring assembly, 21 is a bottom plate, 22 is a pressure sensor, 23 is a pressure plate, 24 is a left upright post, 25 is a left pressure spring, 26 is a right upright post, 27 is a right pressure spring, 28 is a pressure plate, 29 is a sliding groove roller assembly II, 3 is the cable locating component, 31 is the lower carriage, 32 is the fore-stock, 33 is the after-poppet, 34 is cylindrical roller subassembly II, 4 is the cable, 5 is the bobbin, 6 is the support.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, the tension-controllable non-slip ring type take-up and pay-off mechanism provided by the utility model comprises a winding arm 1, a cable positioning assembly 3, a cable 4, a winding drum 5 and a bracket 6, wherein the cable positioning assembly 3 and the winding drum 5 are arranged on the bracket 6, a base of the winding arm 1 is arranged inside the winding drum 5, an operating mechanism for winding the cable is arranged outside the winding drum 5, one end of the cable 4 is wound on the winding drum 5, and the other end of the cable passes through the winding arm 1 and the cable positioning assembly 3 in sequence; the winding arm 1 has two degrees of freedom of winding and winding displacement and is used for winding, unwinding and arranging the cables 4 respectively, and the cable positioning component 3 is used for positioning the cables 4.

As shown in fig. 2, in the embodiment of the present invention, the winding arm 1 is a two-freedom-motion mechanism having a winding freedom and a winding freedom. Specifically, the winding arm 1 comprises a linear motion platform 11 and a rotating arm 12 connected with the output end of the linear motion platform 11, wherein the linear motion platform 11 is arranged on the inner wall of the winding drum 5 and has a degree of freedom of motion along the axial direction of the winding drum 5, namely a winding displacement degree of freedom; the rotating arm 12 has a degree of freedom of rotation about the axis of the bobbin 5, i.e., a winding degree of freedom. The linear motion platform 11 and the rotating arm 12 jointly form a two-degree-of-freedom tandem mechanism. The bobbin 5 is a hollow cylindrical structure, a bobbin arm base is mounted inside, and cables can be discharged outside.

As shown in fig. 3, in the embodiment of the present invention, the linear motion platform 11 includes a motor i 111, an encoder i 112, a lead screw 115, a nut 116, a sliding table 117, and a base 118, wherein the base 118 is connected to an inner wall of the bobbin 5, and the lead screw 115 is rotatably disposed on the base 118 and is parallel to an axis of the bobbin 5; the nut 116 is in threaded connection with the lead screw 115, and the sliding table 117 is connected with the nut 116; the motor I111 is arranged on the base 118, and the output end of the motor is connected with the lead screw 115 through a gear transmission mechanism; the encoder i 112 is provided at an end of the motor i 111.

Specifically, the gear transmission mechanism comprises a driving gear 113 and a driven gear 114, wherein the driving gear 113 is arranged at the output end of the motor i 111, the driven gear 114 is arranged at the end part of the screw 115 and is meshed with the driving gear 113, and the motor i 111 drives the screw 115 to rotate through the driving gear 113 and the driven gear 114, so as to drive the screw nut 116 and the sliding table 117 to move along the axial direction.

In the embodiment of the utility model, the encoder I112 is coaxially arranged at the rear end of the motor I111 and is used for feeding back the movement position of the motor I111. The surface of the slide 117 is designed with a threaded interface for mounting the rotating arm 12. A screw interface connected with the bobbin 5 is designed at the front and rear positions of the lower part of the base 118, and is used for installing the winding arm 1 inside the bobbin 5, but part of the structure of the winding arm 1 is outside the bobbin 5 to realize the winding function, as shown in fig. 1.

As shown in fig. 4, in the embodiment of the present invention, the rotating arm 12 includes a motor ii 121, an encoder ii 122, a planetary reducer 123, a rotating link 124, a direction adjusting link 125, a groove roller assembly i 126, and a limit ring 127, where the planetary reducer 123 is disposed on the linear motion platform 11, and an input end of the planetary reducer is connected to an output shaft of the motor ii 121, and the encoder ii 122 is disposed at a rear end of the motor ii 121; one end of the rotating connecting rod 124 is connected with an output shaft of the planetary reducer 123, and the other end is connected with a direction adjusting connecting rod 125, and the direction adjusting connecting rod 125 is positioned on the outer side of the bobbin 5; the direction-adjusting connecting rod 125 is provided with a plurality of groups of groove roller assemblies I126 and a plurality of limiting rings 127 positioned on the outer sides of the plurality of groups of groove roller assemblies I126; the cable 4 passes through a plurality of groove roller assemblies I126 in sequence and is prevented from falling off through a plurality of limiting rings 127.

Further, the front end of the direction-adjusting connecting rod 125 is provided with two cylindrical roller assemblies I128, the cable 4 is clamped between the two cylindrical roller assemblies I128, and the two cylindrical roller assemblies I128 are used for laterally limiting the cable 4.

In the embodiment of the present invention, the direction-adjusting link 125 includes an L-shaped rod 1251 and an arc-shaped rod 1252, wherein one end of the L-shaped rod 1251 is connected to the rotating link 124, and the other end is detachably connected to the arc-shaped rod 1252, and the connection position is adjustable. Two cylindrical roller assemblies I128 are arranged at the front end of the L-shaped rod 1251, and a plurality of groove roller assemblies I126 are arranged at the tops of the L-shaped rod 1251 and the arc-shaped rod 1252.

In the embodiment of the utility model, the encoder II 122 is coaxially arranged at the rear end of the motor II 121 and is used for feeding back the movement position of the motor II 121. The planetary reducer 123 is coaxially and fixedly mounted on an output shaft of the motor II 121, and is used for amplifying output torque of the motor and driving the rotating connecting rod 124 to rotate, so that the cable 4 is wound. In addition, the output shaft of the planetary gear reducer 123 coincides with the axis of the bobbin 5. The direction adjusting link 125 is fixedly installed at one end of the rotating link 124, and during assembly, the direction of the direction adjusting link 125 can be adjusted so that the outgoing direction of the cable 4 is tangential to the circumferential direction of the bobbin 5. The upper parts of the rotating connecting rod 124 and the direction-adjusting connecting rod 125 are designed with groove-shaped features for the cables to pass through, a plurality of groove roller assemblies I126 are arranged in the middle of the groove-shaped features to reduce the resistance of the cables 4 during movement, a plurality of limiting rings 127 are arranged on the upper parts of the groove-shaped features, and the cables 4 are limited by the limiting rings 127, as shown in fig. 1 and 4.

As shown in fig. 5, in the embodiment of the present invention, the grooved roller assembly i 126 includes a grooved roller 1261, a rotating shaft i 1262, a bearing i 1263 and a retainer ring i 1264, wherein the middle portion of the outer surface of the grooved roller 1261 is a grooved feature which can limit the position of the cylindrical cable 4, two bearings i 1263 are installed in the inner hole of the grooved roller 1261, the two bearings i 1263 are coaxially installed on the rotating shaft i 1262, and the grooved roller 1261 can freely rotate around the rotating shaft i 1262. A retainer ring I1264 is arranged at the outer ends of the two bearings I1263 respectively to limit the bearings I1263. Both ends design of pivot I1262 have certain length allowance for fix pivot I1262. Because of the adoption of the rolling bearing support, the grooved roller 1261 can rotate around the rotating shaft I1262 with extremely low friction. The groove roller assembly is designed as a modular assembly for use in a number of locations in the system.

As shown in fig. 6, in the embodiment of the present invention, the cylindrical roller assembly i 128 includes a cylindrical roller 1281, a rotating shaft ii 1282, a bearing ii 1283, and a retainer ring ii 1284, wherein two bearings ii 1283 are installed in an inner center hole of the cylindrical roller 1281, the two bearings ii 1283 are coaxially installed on the rotating shaft ii 1282, the cylindrical roller 1281 can freely rotate around the rotating shaft ii 1282, and the cylindrical roller 1281 is used for rolling and supporting the operation of the cable 4, so as to reduce the operation resistance of the cable 4. And the outer ends of the two bearings II 1283 are respectively provided with a check ring II 1284 for limiting the bearings II 1283. And a certain length allowance is designed at two ends of the rotating shaft II 1282 and is used for installing and fixing the rotating shaft II 1282. Due to the adoption of the rolling bearing support, the cylindrical roller 1281 can rotate around the rotating shaft II 1282 with extremely small friction force. The cylindrical roller assembly is designed as a modular assembly for use in a number of locations in the system.

As shown in fig. 8, in the embodiment of the present invention, the cable positioning assembly 3 includes a lower bracket 31, a front bracket 32 and a rear bracket 33, wherein the lower end of the lower bracket 31 is connected to the bracket 6, the top of the lower bracket 31 is provided with the front bracket 32 and the rear bracket 33, and the front bracket 32 and the rear bracket 33 are used for positioning the cable 4.

Further, four cylindrical roller assemblies II 34 are arranged on the front support 32 and the rear support 33, the four cylindrical roller assemblies II 34 are arranged in a square shape, so that a wire passing hole through which the cable 4 can pass is formed, and the four cylindrical roller assemblies II 34 guide and limit the cable 4.

In the embodiment of the present invention, the main function of the cable positioning assembly 3 is to pre-position the winding of the cable 4 so that the cable entry point to enter the winding is on the axis of the reel 5, as shown in fig. 1. In order to position the cable 4 in four directions, namely, up, down, left and right, four groups of cylindrical roller assemblies II 34 are arranged on the front support 32, a wire passing hole with a certain space is reserved in the middle of each group of cylindrical roller assemblies II 34, the cable 4 can pass through the wire passing hole in the middle, and the cylindrical roller assemblies II 34 in the four directions are used for limiting. In order to ensure the smoothness of the cable 4, four groups of cylindrical roller assemblies II 34 are also arranged on the rear bracket 33 to limit the cable 4 in the same way, and the design can ensure that one section of cable between the front bracket and the rear bracket is in a linear state, thereby realizing the functions of arranging and positioning the wound cable in advance.

As shown in fig. 1, on the basis of the above embodiment, the tension-controllable non-slip ring type take-up and pay-off mechanism provided by the utility model further comprises a force measuring assembly 2, wherein the force measuring assembly 2 is arranged at the front end of the cable positioning assembly 3, can measure the tension of the cable 4 in real time, and is used for dynamic following control of the winding mechanism on the mobile robot.

As shown in fig. 7, in the embodiment of the present invention, the force measuring assembly 2 includes a bottom plate 21, a pressure sensor 22, a left pillar 24, a right pillar 26, a pressure plate assembly and a groove roller assembly ii 29, wherein the bottom plate 21 is connected with the cable positioning assembly 3, and the left pillar 24 and the right pillar 26 are connected with the bottom plate 21; the pressure sensor 22 is arranged on the bottom plate 21 and is positioned between the left upright post 24 and the right upright post 26; the pressure plate assembly is connected with the left upright post 24 and the right upright post 26 in a sliding way and is connected with the pressure sensor 22; the groove roller assembly II 29 is arranged on the pressing plate assembly and used for guiding the cable 4. The groove roller assembly II 29 is a modular assembly identical to the groove roller assembly I126.

Specifically, the pressure plate assembly comprises a pressure plate 23, a left pressure spring 25, a right pressure spring 27 and a sliding pressure plate 28, wherein the pressure plate 23 and the sliding pressure plate 28 are both connected with a left upright column 24 and a right upright column 26 in a sliding manner, and the pressure plate 23 is connected with the pressure sensor 22; the left compression spring 25 and the right compression spring 27 are respectively sleeved on the left upright post 24 and the right upright post 26 and are both limited between the sliding pressure plate 28 and the pressure plate 23.

Specifically, through holes are designed on both sides of the sliding pressure plate 28, and are respectively matched with the left upright column 24 and the right upright column 26 in a hole and shaft sliding manner, that is, the sliding pressure plate 28 can slide up and down along the left upright column 24 and the right upright column 26 and can generate positive pressure on the left compression spring 25 and the right compression spring 27. When the cable 4 passes through the middle groove characteristic of the groove roller assembly II 29 and certain tension exists in the cable 4, the cable 4 generates downward pressure on the groove roller assembly II 29, the sliding pressing plate 28 moves downward to generate positive pressure on the left pressing spring 25 and the right pressing spring 27, the left pressing spring 25 and the right pressing spring 27 transmit the pressure to the pressing plate 23, the pressure sensor 22 arranged on the lower portion of the pressing plate 23 can measure the pressure born by the pressing plate 23, and the tension value in the cable 4 can be obtained through certain conversion. Because the pressure spring has a buffering effect, the position following of the two ends of the cable 4 can be allowed to have a certain error, and the requirement on the accuracy of the dynamic following control of the cable of the mobile robot is lowered.

In the embodiment of the utility model, the winding arm 1 is a two-free-motion mechanism, can realize the winding and unwinding and the arrangement of the cables 4, and is realized by the combined motion of the linear motion freedom degree and the rotary freedom degree. The two degrees of freedom are both driven by servo motors, and high-precision position control can be performed. By adjusting the movement speeds of the two groups of motors, the cable winding and unwinding device can adapt to the arrangement and the unwinding of cables with different wire diameters, and achieves the multiple purposes of one machine. Traditional drum-type receive paying out machine constructs utilizes motor drive bobbin to rotate and receive the unwrapping wire, because the bobbin is in motion state always, consequently need be connected the circuit of stationary end cable and motion end cable with the help of the sliding ring device. The utility model adopts the winding arm 1 to actively wind the cable 4 on the winding drum 5, the winding drum 5 is always in a static state, so that the use of a slip ring device can be avoided, the whole cable 4 is a complete and unsegmented cable from a static end to a mobile robot end, and the power supply reliability and the service life are greatly improved.

In the embodiment of the utility model, the force measuring assembly 2 converts the tension in the cable 4 into the pressure value of the pressure sensor through the roller and the spring mechanism, so that the tension in the cable 4 can be measured in real time, the control system can change the motion direction of the winding arm 1 in real time according to the tension of the cable, when the tension of the cable is greater than a set value, the winding arm 1 is wound, and when the tension of the cable is less than the set value, the winding arm 1 is wound. Therefore, dynamic following type winding and unwinding control of the moving target can be realized.

The tension-controllable non-slip ring type take-up and pay-off mechanism is suitable for take-up and pay-off operation of a mobile robot in an extreme environment, has cable tension measurement and moving target self-adaptive dynamic following capabilities, avoids using a conductive slip ring, and ensures that the system has the characteristics of high reliability and long service life. The robot is particularly suitable for occasions with harsh environments, extremely high requirements on reliability and service life, such as space extravehicular robots and underwater robots. The utility model not only solves the problems of low reliability and short service life caused by using the conductive slip ring in the traditional winding mechanism, but also solves the problems that the traditional winding mechanism does not have tension measurement and is difficult to autonomously follow a moving target. In addition, the system can be suitable for the winding and unwinding tasks of cables with different wire diameters by the active winding technology of the two-degree-of-freedom winding arm, and multiple purposes of one machine are really realized. Therefore, the utility model has strong competitiveness in the field of winding mechanisms.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A tension-controllable non-slip ring type take-up and pay-off mechanism is characterized by comprising a winding arm (1), a cable positioning component (3), a cable (4), a winding drum (5) and a bracket (6), wherein the cable positioning component (3) and the winding drum (5) are arranged on the bracket (6), a base of the winding arm (1) is arranged inside the winding drum (5), one end of the cable (4) is wound on the winding drum (5), and the other end of the cable passes through the winding arm (1) and the cable positioning component (3) in sequence; the winding arm (1) has two degrees of freedom of winding and winding displacement and is used for winding, unwinding and arranging the cables (4), and the cable positioning assembly (3) is used for positioning the cables (4).

2. The tension-controlled non-slip ring type take-up and pay-off mechanism as claimed in claim 1, wherein the winding arm (1) comprises a linear motion platform (11) and a rotating arm (12) connected with an output end of the linear motion platform (11), the linear motion platform (11) is arranged on the inner wall of the bobbin (5) and has a degree of freedom to move along the axial direction of the bobbin (5);

the rotating arm (12) has a degree of freedom of rotation about the axis of the bobbin (5).

3. The tension-controllable non-slip ring type take-up and pay-off mechanism as claimed in claim 2, wherein the linear motion platform (11) comprises a motor I (111), an encoder I (112), a lead screw (115), a nut (116), a sliding table (117) and a base (118), wherein the base (118) is connected with the inner wall of the winding reel (5), and the lead screw (115) is rotatably arranged on the base (118) and is parallel to the axis of the winding reel (5); the screw nut (116) is in threaded connection with the lead screw (115), and the sliding table (117) is connected with the screw nut (116); the motor I (111) is arranged on the base (118), and the output end of the motor I is connected with the lead screw (115) through a gear transmission mechanism; the encoder I (112) is arranged at the end of the motor I (111).

4. The tension-controllable non-slip ring type take-up and pay-off mechanism as claimed in claim 2, wherein the rotating arm (12) comprises a motor II (121), an encoder II (122), a planetary reducer (123), a rotating connecting rod (124), a direction-adjusting connecting rod (125), a groove roller assembly I (126) and a limit ring (127), wherein the planetary reducer (123) is arranged on the linear motion platform (11), the input end of the planetary reducer is connected with the output shaft of the motor II (121), and the encoder II (122) is arranged at the rear end of the motor II (121);

one end of the rotating connecting rod (124) is connected with an output shaft of the planetary gear reducer (123), the other end of the rotating connecting rod is connected with a direction adjusting connecting rod (125), and the direction adjusting connecting rod (125) is positioned on the outer side of the bobbin (5);

a plurality of groups of groove roller assemblies I (126) and a plurality of limiting rings (127) positioned on the outer sides of the plurality of groups of groove roller assemblies I (126) are arranged on the direction-adjusting connecting rod (125); cable (4) pass through multiunit recess roller assembly I (126) in proper order, and prevent to drop through a plurality of spacing ring (127).

5. The tension-controllable non-slip ring type take-up and pay-off mechanism as claimed in claim 4, wherein the front end of the direction-adjusting connecting rod (125) is provided with two cylindrical roller assemblies I (128), and the cable (4) is clamped between the two cylindrical roller assemblies I (128).

6. The tension-controllable non-slip ring pay-off and take-up mechanism as claimed in claim 1, wherein the cable positioning assembly (3) comprises a lower bracket (31), a front bracket (32) and a rear bracket (33), wherein the lower end of the lower bracket (31) is connected with the bracket (6), the top of the lower bracket (31) is provided with the front bracket (32) and the rear bracket (33), and the front bracket (32) and the rear bracket (33) are used for positioning the cable (4).

7. The tension-controllable non-slip ring type take-up and pay-off mechanism as claimed in claim 6, wherein the front bracket (32) and the rear bracket (33) are respectively provided with four cylindrical roller assemblies II (34), and the four cylindrical roller assemblies II (34) are arranged in a square shape, so as to form a wire passing hole.

8. The tension-controllable non-slip ring type take-up and pay-off mechanism as claimed in any one of claims 1 to 7, further comprising a force measuring assembly (2), wherein the force measuring assembly (2) is arranged at the front end of the cable positioning assembly (3) and is used for measuring the tension of the cable (4) in real time.

9. The tension-controllable non-slip ring type take-up and pay-off mechanism as claimed in claim 8, wherein the force measuring assembly (2) comprises a bottom plate (21), a pressure sensor (22), a left upright post (24), a right upright post (26), a pressure plate assembly and a groove roller assembly II (29), wherein the bottom plate (21) is connected with the cable positioning assembly (3), and the left upright post (24) and the right upright post (26) are connected with the bottom plate (21); the pressure sensor (22) is arranged on the bottom plate (21) and is positioned between the left upright post (24) and the right upright post (26);

the pressure plate assembly is connected with the left upright post (24) and the right upright post (26) in a sliding manner and is connected with the pressure sensor (22); and the groove roller assembly II (29) is arranged on the pressing plate assembly and used for guiding the cable (4).

10. The tension-controllable non-slip ring type take-up and pay-off mechanism as claimed in claim 9, wherein the pressure plate assembly comprises a pressure plate (23), a left pressure spring (25), a right pressure spring (27) and a sliding pressure plate (28), wherein the pressure plate (23) and the sliding pressure plate (28) are both connected with the left upright post (24) and the right upright post (26) in a sliding manner, and the pressure plate (23) is connected with the pressure sensor (22);

the left compression spring (25) and the right compression spring (27) are respectively sleeved on the left upright post (24) and the right upright post (26) and are limited between the sliding pressing plate (28) and the pressing plate (23).