WO2016000469A1 - 一种自适应负载卷扬机构 - Google Patents

一种自适应负载卷扬机构 Download PDF

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Publication number
WO2016000469A1
WO2016000469A1 PCT/CN2015/075435 CN2015075435W WO2016000469A1 WO 2016000469 A1 WO2016000469 A1 WO 2016000469A1 CN 2015075435 W CN2015075435 W CN 2015075435W WO 2016000469 A1 WO2016000469 A1 WO 2016000469A1
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WO
WIPO (PCT)
Prior art keywords
bracket
top plate
disposed
reel
hoisting mechanism
Prior art date
Application number
PCT/CN2015/075435
Other languages
English (en)
French (fr)
Inventor
陆志国
邹冀
田甜
冯柏仁
刘作涛
Original Assignee
东北大学
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Filing date
Publication date
Application filed by 东北大学 filed Critical 东北大学
Priority to US15/025,390 priority Critical patent/US10077175B2/en
Publication of WO2016000469A1 publication Critical patent/WO2016000469A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/26—Rope, cable, or chain winding mechanisms; Capstans having several drums or barrels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic

Definitions

  • the invention belongs to the technical field of engineering machinery, and in particular relates to an adaptive load hoisting mechanism.
  • the hoisting mechanism is an important part of many construction machinery.
  • the hoisting mechanism commonly used in cranes, freight elevators and other machinery sometimes needs to reduce the hoisting speed in order to meet the large load demand.
  • the hoisting speed cannot be increased accordingly.
  • the existing methods usually increase the power of the motor, but lack the adaptive adjustment mechanism of the speed and torque.
  • a commonly used method is to use a continuously variable shifting mechanism or a servo motor.
  • the existing stepless speed change mechanism has a complicated structure, and usually has a large hydraulic system as a power source, and has a large size, and the speed adjustment process of the servo motor also needs an auxiliary mechanism such as an electric control, so that maintenance and repair are inconvenient and the cost is high. .
  • the transmission ratio of the conventional mechanical joints and the commonly used speed reduction mechanism in the tension and compression device is constant, the output speed cannot be flexibly adjusted, and the use is greatly limited.
  • the second problem is to increase the curling force, and the target can be grasped, but the target cannot be grasped quickly, and the efficiency is lowered.
  • the transmission mechanism that automatically adjusts the output force according to the load usually needs to be electrified auxiliary control.
  • the structure is more complicated, the reliability is poor, and the applicable surface is narrow.
  • the purely mechanical automatic load-adaptive transmission on the market/ Shifting mechanisms are also rare.
  • the present invention proposes an adaptive load hoisting mechanism having mechanical intelligence, which can automatically adapt to the load size and adjust the hoisting speed, the hoisting force and the transmission ratio.
  • an adaptive load hoisting mechanism including a bracket and a top plate, the top plate is disposed above the bracket, and a column is disposed between the bracket and the top plate, and the top plate is provided with a corresponding through hole of the column, the column is disposed in the through hole, and the lower end of the column is connected with the bracket;
  • a first spring is disposed outside the column between the bracket and the top plate, and is respectively disposed on a side corresponding to the top plate and the bracket
  • One end of the pull wire is fixed on the upper part of the reel, and the other end is connected to the load through the top plate pulley and the
  • the columns are four, symmetrically disposed on both sides of the reel, and the corresponding bracket and the top plate are symmetric structures.
  • Both the top plate pulley and the bracket pulley are two.
  • the two columns are arranged on the same side of the bracket, and the corresponding top plate is a single-sided structure.
  • the top plate pulley and the bracket pulley are both one.
  • a fixing frame is further disposed above the top plate, and a through hole of the upper end of the column is connected to the fixing frame through a through hole of the top plate, and a center of the larger diameter end of the reel is provided with a reel shaft, and the reel shaft is fixed by a bearing On the shelf.
  • the power source of the adaptive load hoisting mechanism of the present invention is a motor.
  • An adaptive load hoisting mechanism for transmitting torque power converts the unidirectional motion of the hoisting mechanism pull wire into a hoop motion, thereby directly outputting torque power, so that the output torque can be automatically adjusted according to the load size.
  • the structure comprises a bracket and a top plate, the top plate is arranged above the bracket, a column is arranged between the bracket and the top plate, and a through hole corresponding to the column is arranged on the top plate, the column is arranged in the through hole, and the lower end of the column Connected to the bracket; a first spring is arranged outside the pillar between the bracket and the top plate, two top plate pulleys are arranged on the top plate, and a reel is arranged at the center of the bracket, the reel is a truncated cone type, and the fixed sleeve is set On the power input shaft, the power input shaft is disposed on the bracket through the bearing; a transmission wheel is disposed on a lower portion of the bracket corresponding to the top plate pulley,
  • the cable tensioning mechanism comprises a cable reel and a pusher wheel, the beam reel is fixedly disposed on the bracket, and the second spring is disposed on the pusher wheel, and the cable reel and the pusher wheel are disposed on both sides of the cable, and the second The spring is a thrust spring and is disposed on the opposite side of the wire.
  • the column is four, symmetrically disposed on both sides of the reel, and the top plate, the top plate pulley, the pulling wire, the transmission wheel and the wire tensioning mechanism are two, and are symmetrically disposed on both sides of the bracket, and the inner side of the transmission wheel is
  • the shaft is provided with a bevel pinion, and a power output shaft is arranged at a lower portion of the bracket, and a large bevel gear is fixedly arranged on the power output shaft, and the large bevel gear meshes with the two small bevel gears respectively.
  • the invention has the advantages that the self-adaptive load hoisting mechanism has simple and reliable structure, strong versatility and low performance requirement for power, and the adaptive hoisting mechanism can automatically adjust the hoisting force and the hoisting speed according to the size of the load.
  • the spring between the bracket and the top plate cushions the vibration of the load.
  • FIG. 1 is a schematic structural view of a first embodiment of an adaptive load hoisting mechanism of the present invention
  • FIG. 2 is a schematic structural view of the load operation of FIG. 1;
  • FIG. 3 is a schematic structural view of a second embodiment of an adaptive load hoisting mechanism of the present invention.
  • Figure 4 is a schematic view of the rear structure of Figure 3;
  • Figure 5 is a schematic structural view of the load operation of Figure 3.
  • Figure 6 is a perspective view of a third embodiment of the adaptive load hoisting mechanism of the present invention.
  • Figure 7 is a partial cross-sectional view of Figure 6;
  • 1-motor 2-bracket, 3-branch horizontal axis, 4-bracket pulley, 5-first spring, 6-roller, 7-column, 8-top pulley, 9-top horizontal axis, 10-wire ,11-top plate,12-reel shaft,13-wire connecting pin,14-bearing pulley,15-weight,16-fixing frame,17-power input shaft,18-drive wheel,19-power output shaft,20 - Cable reel, 21-pushing wheel, 22-second spring, 23-fixing plate, 24-small bevel gear, 25-large bevel gear.
  • the adaptive load hoisting mechanism of the present invention comprises a bracket 2 and a top plate 11.
  • the top plate 11 is disposed above the bracket 2, and is disposed between the bracket 2 and the top panel 11
  • the four columns 7, the top plate 11 and the bracket 2 have a symmetrical structure, and four through holes corresponding to the column 7 are disposed on the top plate 11, the column 7 is disposed in the through hole, and the lower end of the column 7 is in phase with the bracket 2.
  • a first spring 5 is disposed outside the column 7 between the bracket 2 and the top plate 11, and a top plate pulley 8 and a bracket pulley 4, a top plate pulley 8 and a bracket pulley are respectively disposed on two sides corresponding to the top plate 11 and the bracket 2, respectively.
  • 4 is disposed on the top plate 11 and the bracket 2 through the top horizontal axis 9 and the horizontal axis 3 of the bracket respectively.
  • the center of the bracket 2 is provided with a reel 6 which is a truncated cone type, and the lower end is a smaller diameter end, and is connected.
  • the upper portion of the reel 6 is connected to one end of two pull wires 10 through two symmetrical pull wire connecting pins 13, and the other ends of the two pull wires 10 are sequentially passed through the top plate pulley 8 and the bracket pulley on both sides. 4, one of the pull wires bypasses the load-bearing pulley 14 and pulls with the other connected.
  • the pulley shaft of the load bearing pulley 14 is coupled to the weight 15.
  • the hoisting mechanism of the present invention is first inverted, and the bracket 2 is placed on a firm load-bearing member.
  • the motor rotates the reel 6 and rolls the pull wire 10, which pulls the load bearing pulley 14 up through the top plate pulley 8 and the bracket pulley 4 and further pulls the weight 15.
  • the load will have a certain compression between the top plate pulley 8 and the bracket pulley 4 through the pull wire 10. The greater the load weight, the higher the degree of compression, and the smaller the diameter of the reel 6 that is flush with the top plate pulley 8.
  • Embodiment 2 As shown in FIGS. 3 to 5, the adaptive load hoisting mechanism of the present invention.
  • the bracket 2 and the top plate 11 are disposed.
  • the top plate 11 is disposed above the bracket 2, and two uprights 7 are disposed between the bracket 2 and the top plate 11, and two through holes corresponding to the pillars 7 are disposed on the top plate 11,
  • the column 7 is disposed in the through hole, and the upper end of the column 7 is provided with a fixing frame 16, and the lower end of the column 7 is connected with the bracket 2;
  • a first spring 5 is disposed outside the column 7 between the bracket 2 and the top plate 11
  • a top plate pulley 8 and a bracket pulley 4 are respectively disposed on the side surfaces corresponding to the top plate 11 and the bracket 2, and the top plate pulley 8 and the bracket pulley 4 are respectively disposed on the top plate 11 and the bracket 2 through the top horizontal axis 9 and the bracket horizontal axis 3, respectively, in the bracket 2 above the center setting
  • the upper part of the reel 6 is connected with one end of the cable 10 through a wire connecting pin 13, and the wire 10 is connected. The other end is sequentially connected to the top plate pulley 8 and the bracket pulley 4 to be finally connected to the weight 15.
  • a reel shaft 12 is disposed at the center of the larger diameter end of the reel 6, and the upper end of the reel shaft 12 is disposed on the fixing frame 16.
  • the fixing frame 16 functions to stabilize the reel 6 and the column 7.
  • the two symmetrical top plate pulleys 8 are provided, the reel 6 and the uprights 7 are not subjected to horizontal moments, so the support of the fixing frame 16 is not required.
  • the adaptive load hoisting mechanism of the present embodiment Before the adaptive load hoisting mechanism of the present embodiment is operated, it is first placed horizontally to fix the bracket 2 and the fixing frame 16 to the firm load-bearing member. Starting the motor 1, the motor rotates the reel 6 and rolls the pull wire 10, and the pull wire pulls the weight 15 upward through the top plate pulley 8 and the bracket pulley 4. During this process, the load will have a certain compression between the top plate 11 and the bracket 2 through the pull wire 10. The greater the load weight, the higher the degree of compression, and the smaller the diameter of the reel 6 that is flush with the top plate pulley 8, due to The output torque of the motor 1 is fixed, the force of the output of the hoisting mechanism is larger, the hoisting speed is slower, and the working state is more stable.
  • the third embodiment is an adaptive load hoisting mechanism for transmitting power, and the structure is similar to that of the first embodiment and the second embodiment mainly in the following: the bracket 2 and the column 7 . a reel 6 and a top plate 11, a top plate 11 is disposed above the bracket 2, a column 7 is disposed between the bracket 2 and the top plate 11, and a through hole corresponding to the column 7 is disposed on the top plate 11, and the column 7 is disposed at the through hole
  • the lower end of the column 7 is connected to the bracket 2;
  • the first spring 5 is disposed outside the column 7 between the bracket 2 and the top plate 11, and the top plate pulley is provided with a horizontal axis 9 on the top plate 11, and the top plate pulley is disposed on the horizontal axis 9
  • a transmission wheel 18 is disposed on the lower portion of the bracket 2 corresponding to the top plate pulley 8, and the transmission wheel 18 can be used for power output.
  • the column 7 is four, and the top plate 11, the transmission wheel 18 and the wire tensioning mechanism are both two, symmetrically disposed on opposite sides of the bracket 1, and the upper end of the column 7 is provided with a fixing plate 23 for fixing the column 7.
  • a small bevel gear 24 is coaxially disposed on the inner side of the transmission wheel 18, and a large bevel gear 24 and a power output shaft 19 are disposed at a lower portion of the bracket 2.
  • the large bevel gear 24 is fixedly mounted on the power output shaft 19, and the power output shaft 19 passes through The shaft is placed on the bracket.
  • the large bevel gear 25 and the two bevel pinions 24 are both meshed so that the power of the transmission wheels 18 on both sides can be outputted.
  • Another difference from the adaptive load hoisting mechanism of the present invention is that the pull wires 10 are sequentially wound.
  • the reel 6, a top pulley 8, the drive wheel 18 and the other top pulley 8 form a closed loop. In order to enable the cable 10 to maintain good contact with the spool 6 and the drive wheel 18 and provide sufficient friction, it must be entangled with the drive wheel 18 on the slack side of the cable 10, that is, the side of the spool 6 from which the cable 10 is fed.
  • a wire tensioning mechanism is disposed between one side of the wire 10, and the spool 6 is wound into the wire 10 on the left side in Fig. 6, and is sent out from the right side. Therefore, the cable tensioning mechanism is disposed on the bracket 1 and the right cable.
  • the cable tensioning mechanism includes a cable reel 20 and a push pulley 21, and the cable reel 20 is fixedly disposed on the bracket, and the pusher wheel 21 is disposed.
  • the cable reel 20 is disposed on the inner side of the wire, and the push pin 21 is disposed on the outer side of the wire to push the wire 10 inward to ensure the wire 10 during operation. Tight.
  • the power input shaft 17 is connected to the power source, and the power output shaft 19 is connected to the load mechanism.
  • the motor 1 is used as a power source and built in the bracket 2 Internally, the shaft of the motor 1 is directly connected to the lower end of the power input shaft 17.
  • the motor 1 drives the reel 6 to rotate.
  • the reel 6 drives the two pull wires 10 and further drives the two transmission wheels 18 to rotate.
  • the two transmission wheels 18 drive the bevel gears 24, and finally the large bevel gears 25 are rotated.
  • the power is transmitted to the load mechanism through the power output shaft 19, and when the load becomes large, the tensile force of the cable 10 is increased, and the sliding top frame 11 is subjected to the pulling force in the direction of the transmission wheel 18, so that the column 7 is A spring 5 is compressed so that the contact position of the wire 10 on the reel 6 is moved downward. Since the reel 6 is in the shape of a frustum, the diameter of the lower portion is smaller than that of the upper portion, so that the input power of the motor 1 is constant.

Abstract

一种自适应负载卷扬机构，包括支架（2）和顶板（11），所述顶板设置在支架的上方，在支架与顶板之间设置有立柱（7），在顶板上设置有与立柱相对应的通孔，立柱设置在所述的通孔内，立柱的下端与支架相连接；在支架与顶板之间的立柱外设置有弹簧（5），在顶板和支架相对应的侧面分别设置有顶板滑轮（8）和支架滑轮（4），在支架上方中心处设置有卷筒（6），卷筒为圆锥台型，其下端为直径较小的一端，连接在卷扬机构的动力输入轴（17）上，卷筒的上端设置有拉线（10），拉线的一端固定在卷筒的上部，另一端依次通过顶板滑轮和支架滑轮与负载相连接。本自适应负载卷扬机构结构简单可靠，通用性强，对动力要求低，可以根据负载的大小来自动调整卷扬力与卷扬速度的大小。

Description

一种自适应负载卷扬机构 技术领域：
本发明属于工程机械技术领域，具体涉及一种自适应负载卷扬机构。
背景技术：
卷扬机构是很多工程机械的重要执行部分，现有吊车、运货电梯等机械中常用的卷扬机构有时为了满足大载荷需求，需要降低卷扬速度。但当实际载荷较小时，卷扬速度也无法相应变快。为了同时满足转速与转矩要求，现有的方法通常为提高马达的功率，但缺乏转速与转矩的自适应调整机制。为解决卷扬速度和卷扬力的调整问题，常用的方法为采用无级变速机构或采用伺服电机。但现有的无级变速机构结构复杂，通常以大型液压系统为动力源，尺寸较大，而伺服电机的速度调节过程也需要电控等辅助机构，因而维护和修理都不方便，成本较高。
现有机械人关节以及拉压装置中常用减速机构的传动比恒定不变，输出速度不能灵活调整，用途受到很大限制。应用常用卷扬机构的机械手运动中会遇到两种对立的问题：第一种问题是当快速抓住目标物后，因为卷扬力不变，所以很难抓紧目标物，可能会使目标物滑脱；第二种问题在于增大卷扬力，可以抓紧目标物，但不能快速抓住目标物，效率降低。
现阶段的机械领域里，根据负载自动调整输出力的传动机构通常需要电气化辅助控制才能得以实现，其结构较复杂、可靠性差、适用面较窄，市场上纯机械式的自动适应负载的传动/变速机构还很少见。
发明内容：
为解决以上现有技术存在的问题，本发明提出一种具有机械智能，可自动适应负载大小并调整卷扬速度、卷扬力及传动比的自适应负载卷扬机构。
为实现以上目的，本发明采用以下技术方案：一种自适应负载卷扬机构，包括支架和顶板，所述顶板设置在支架的上方，在支架与顶板之间设置有立柱，在顶板上设置有与立柱相对应的通孔，立柱设置在所述的通孔内，立柱的下端与支架相连接；在支架与顶板之间的立柱外设置有第一弹簧，在顶板和支架相对应的侧面分别设置有顶板滑轮和支架滑轮，在支架上方中心处设置有卷筒，卷筒为圆锥台型，其下端为直径较小的一端，连接在卷扬机构的动力输入轴上，卷筒的上部设置有拉线，拉线的一端固定在卷筒的上部，另一端依次通过顶板滑轮和支架滑轮与负载相连接。
所述立柱为四个，在卷筒的两侧对称设置，与之相对应的支架与顶板均为对称结构。
所述顶板滑轮和支架滑轮均为两个。
所述立柱为两个，设置在支架的同一侧面，相对应的顶板为单侧结构。
所述顶板滑轮和支架滑轮均为一个。
在所述顶板上方还设置有固定架，立柱上端穿过顶板的通孔与固定架相连接，所述卷筒直径较大的一端的中心设置有卷筒轴，卷筒轴通过轴承设置在固定架上。
本发明的自适应负载卷扬机构的动力源均为电机。
一种用于传递转矩动力的自适应负载卷扬机构，将前述的卷扬机构拉线的单向运动转化为环向运动，进而直接输出转矩动力，从而能够能够根据负载大小自动调整输出转矩，其结构包括支架和顶板，所述顶板设置在支架上方，在支架与顶板之间设置有立柱，在顶板上设置有与立柱相对应的通孔，立柱设置在所述通孔内，立柱的下端与支架相连接；在支架与顶板之间的立柱外设置有第一弹簧，在顶板上设置有两个顶板滑轮，在支架上方中心处设置有卷筒，卷筒为圆锥台型，固定套装在动力输入轴上，动力输入轴通过轴承设置在支架上；在支架上与顶板滑轮相对应的侧面下部设置有传动轮，在传动轮和卷筒之间设置有拉线，所述拉线为封闭线环，并绕过两个顶板滑轮，在本机构工作时卷筒送出拉线的一侧与传动轮卷入拉线的一侧之间的拉线上设置有拉线张紧机构。
所述拉线张紧机构包括束线轮及推线轮，束线轮固定设置在支架上，推线轮上设置有第二弹簧，束线轮与推线轮设置在拉线的两侧，第二弹簧为推力弹簧，设置在与拉线相反的一侧。
所述立柱为四个，在卷筒的两侧对称设置，顶板、顶板滑轮、拉线、传动轮及拉线张紧机构均为两个，且对称设置在支架的两侧，所述传动轮内侧同轴设置小锥齿轮，在支架的下部设置有动力输出轴，动力输出轴上固定套装有大锥齿轮，所述大锥齿轮分别与两个小锥齿轮相啮合。
本发明有益效果：本发明的自适应负载卷扬机构结构简单可靠，通用性强，对动力的性能要求低，自适应卷扬机构可以根据负载的大小来自动调整卷扬力与卷扬速度的大小，在支架与顶板之间的弹簧对负载的振动有缓冲作用。
附图说明：
图1为本发明的自适应负载卷扬机构的第一个实施例的结构示意图；
图2为图1负载工作时的结构示意图；
图3为本发明的自适应负载卷扬机构的第二个实施例的结构示意图；
图4为图3的后部结构示意图；
图5为图3负载工作时的结构示意图；
图6是本发明的自适应负载卷扬机构的第三个实施例的立体图；
图7是图6的局部剖切图；
其中：1-电机，2-支架，3-支架横轴，4-支架滑轮，5-第一弹簧，6-卷筒，7-立柱，8-顶板滑轮，9-顶板横轴，10-拉线，11-顶板，12-卷筒轴，13-拉线连接销，14-承重滑轮，15-重物，16-固定架，17-动力输入轴，18-传动轮，19-动力输出轴，20-束线轮，21-推线轮，22-第二弹簧，23-固定板，24-小锥齿轮，25-大锥齿轮。
具体实施方式：
下面结合附图和实施例对本发明的自适应负载卷扬机构做进一步详细说明：
实施例一：如图1～图2所示，本发明的自适应负载卷扬机构，包括支架2和顶板11，所述顶板11设置在支架2的上方，在支架2与顶板11之间设置有四个立柱7，顶板11和支架2为对称结构，在顶板11上设置有与立柱7相对应的四个通孔，立柱7设置在所述的通孔内，立柱7的下端与支架2相连接；在支架2与顶板11之间的立柱7外设置有第一弹簧5，在顶板11和支架2相对应的两个侧面分别设置有顶板滑轮8和支架滑轮4，顶板滑轮8和支架滑轮4分别通过顶板横轴9和支架横轴3设置在顶板11和支架2上，支架2上方中心处设置有卷筒6，卷筒6为圆锥台型，其下端为直径较小的一端，连接在电机1的轴上，卷筒6的上部通过两个对称的拉线连接销13分别连接有两条拉线10的一端，两条拉线10的另一端分别依次通过两侧的顶板滑轮8和支架滑轮4，其中一条拉线绕过承重滑轮14并与另一条拉线连接在一起。将承重滑轮14的滑轮轴连接到重物15上。
在本实施例的自适应负载卷扬机构工作前，首先将本发明的卷扬机构倒置，将支架2设置在牢固的承重件上。启动电机1，电机会使卷筒6旋转并卷动拉线10，拉线会通过顶板滑轮8和支架滑轮4向上牵引承重滑轮14并进一步牵引重物15。在此过程中负载会通过拉线10使顶板滑轮8与支架滑轮4之间的距离有一定的压缩，负载重量越大，压缩程度越高，与顶板滑轮8相平齐的卷筒6直径越小，由于电机1输出力矩一定，卷扬机构输出的力也就越大，卷扬速度会越慢，工作状态也更稳定。反之当负载重量较小时，顶板11与支架2之间的距离压缩程度较小，与顶板滑轮8相平齐的卷筒6直径就更大一点，卷扬机构输出的力相对较小，但卷扬速度会较快。本实施例的卷扬机构的机械智能性可以使其较为灵活的应用于多种机械。
实施例二：如图3～图5所示，本发明的自适应负载卷扬机构。包括支架2和顶板11，所述顶板11设置在支架2的上方，在支架2与顶板11之间设置有两个立柱7，在顶板11上设置有与立柱7相对应的两个通孔，立柱7设置在所述的通孔内，立柱7的上端设置有固定架16，立柱7的下端与支架2相连接；在支架2与顶板11之间的立柱7外设置有第一弹簧5，在顶板11和支架2相对应的侧面分别设置有顶板滑轮8和支架滑轮4，顶板滑轮8和支架滑轮4分别通过顶板横轴9和支架横轴3设置在顶板11和支架2上，在支架2上方中心处设置 有卷筒，卷筒6为圆锥台型，其下端为直径较小的一端，连接在电机1的轴上，卷筒6的上部通过一个拉线连接销13连接有拉线10的一端，拉线10的另一端依次连接顶板滑轮8和支架滑轮4最终连接到重物15上。在卷筒6直径较大的一端中心设置有卷筒轴12，卷筒轴12的上端设置在固定架16上，在本实施例中，固定架16起到稳定卷筒6和立柱7的作用，在实施例一中，由于具备两个对称的顶板滑轮8，卷筒6和立柱7都不会受到水平的力矩，故不需要固定架16的支撑。
在本实施例的自适应负载卷扬机构工作前，首先将其水平放置，将支架2和固定架16固定于牢固的承重件上。启动电机1，电机会使卷筒6旋转并卷动拉线10，拉线会通过顶板滑轮8和支架滑轮4向上牵引重物15。在此过程中负载会通过拉线10使顶板11与支架2之间的距离有一定的压缩，负载重量越大，压缩程度越高，与顶板滑轮8相平齐的卷筒6直径越小，由于电机1输出力矩一定，卷扬机构输出的力也就越大，卷扬速度会越慢，工作状态也更稳定。反之当负载重量较小时，顶板11与支架2之间的距离压缩程度较小，与顶板滑轮8相平齐的卷筒6直径就更大一点，卷扬机构输出的力相对较小，但卷扬速度会较快。本实施例主要但不限于应用于起重机构，由于其独特的机械智能，可以使其兼顾效率与卷扬力。
实施例三，如图6～图7所示，为一种用于传递动力的自适应负载卷扬机构，其结构与实施例一、实施例二的结构相似处主要在于：支架2、立柱7、卷筒6和顶板11，顶板11设置在支架2上方，立柱7设置在支架2与顶板11之间，在顶板11上设置有与立柱7相对应的通孔，立柱7设置在所述通孔内，立柱7的下端与支架2相连接；在支架2与顶板11之间的立柱7外设置有第一弹簧5，在顶板11上设置有顶板滑轮横轴9，顶板滑轮横轴9上设置有两个顶板滑轮8，在支架2上方中心处设置有卷筒6，卷筒6为圆锥台型，固定套装在动力输入轴17上。但是其应用场合与本发明的自适应负载卷扬机构不同，因而结构存在差异：在支架2上与顶板滑轮8相对应的侧面下部设置有传动轮18，传动轮18能够用于动力输出，在本实施例中，立柱7为四个，顶板11、传动轮18及拉线张紧机构均为两个，在支架1相对的两侧对称设置，立柱7的上端设置有用于固定立柱7的固定板23，传动轮18内侧同轴设置小锥齿轮24，在支架2的下部设置有大锥齿轮24及动力输出轴19，所述大锥齿轮24固定套装在动力输出轴19上，动力输出轴19通过轴设置在支架上。大锥齿轮25与两个小锥齿轮24均相啮合，从而使两侧的传动轮18的动力均能输出，与本发明的自适应负载卷扬机构的另一个不同之处在于，拉线10依次绕过卷筒6，一个顶板滑轮8，传动轮18及另一个顶板滑轮8并构成了一个闭合线环。为了使拉线10能够与卷筒6及传动轮18保持良好的接触并提供足够的摩擦力，须在拉线10的松弛一侧，也就是卷筒6送出拉线10的一侧与传动轮18卷入拉线10的一侧之间设置拉线张紧机构，图6中卷筒6在左侧卷入拉线10，从右侧送出， 因而将拉线张紧机构设置在支架1上、右侧拉线处，所述拉线张紧机构包括束线轮20及推线轮21，束线轮20固定设置在支架上，推线轮21上设置有第二弹簧22，第二弹簧22为推力弹簧，束线轮20设置在拉线的内侧，而推线轮21设置在拉线的外侧，从而向内推动拉线10，保证了运行过程中拉线10的绷紧。
在本发明工作前，须将动力输入轴17上连接至动力源，将动力输出轴19连接至负载机构，在本实施例中，为了减小体积，将电机1作为动力源且内置在支架2内部，电机1的轴即直接连接至动力输入轴17的下端。
启动电机1后，电机1带动卷筒6转动，卷筒6带动两根拉线10并进一步带动两个传动轮18转动，两个传动轮18带动小锥齿轮24，最终带动大锥齿轮25转动并通过动力输出轴19将动力传输给负载机构，当负载变大时，拉线10的受到的拉力会增大，进而会使滑动顶架11受到向传动轮18方向的拉力，使立柱7上的第一弹簧5被压缩，从而使卷筒6上的拉线10的接触位置下移，由于卷筒6为锥台形状的，其下部直径比上部小，因而在电机1的输入动力不变的情况下，传动比增大，动力输出轴19的转速变小，但输出转矩会变大。当负载较小时，拉线10受到的拉力会减小，第一弹簧5会使顶板11上升，顶板滑轮8因而上升，并进一步使卷筒6上的拉线10的接触位置也上移，在电机1输入动力不变的情况下，传动比减小，动力输出轴19的转速增加，输出转矩减小。其工作过程中，传动比的调整完全根据根据负载的大小而改变，其装置本身具备机械智能，无需增加外部控制机构，减少了成本，增加了工作效率和工作适应能力。

Claims (10)

  1. 一种自适应负载卷扬机构，其特征在于：包括支架和顶板，所述顶板设置在支架的上方，在支架与顶板之间设置有立柱，在顶板上设置有与立柱相对应的通孔，立柱设置在所述的通孔内，立柱的下端与支架相连接；在支架与顶板之间的立柱外设置有第一弹簧，在顶板和支架相对应的侧面分别设置有顶板滑轮和支架滑轮，在支架上方中心处设置有卷筒，卷筒为圆锥台型，其下端为直径较小的一端，连接在卷扬机构的动力输入轴上，卷筒的上部设置有拉线，拉线的一端固定在卷筒的上部，另一端依次通过顶板滑轮和支架滑轮与负载相连接。
  2. 根据权利要求1所述的自适应负载卷扬机构，其特征在于：所述立柱为四个，在卷筒的两侧对称设置，与之相对应的支架与顶板均为对称结构。
  3. 根据权利要求2所述的自适应负载卷扬机构，其特征在于：所述顶板滑轮和支架滑轮均为两个。
  4. 根据权利要求1所述的自适应负载卷扬机构，其特征在于：所述立柱为两个，设置在支架的同一侧面，相对应的顶板为单侧结构。
  5. 根据权利要求4所述的自适应负载卷扬机构，其特征在于：所述顶板滑轮和支架滑轮均为一个。
  6. 根据权利要求4所述的自适应负载卷扬机构，其特征在于：在所述顶板上方还设置有固定架，立柱上端穿过顶板的通孔与固定架相连接，所述卷筒直径较大的一端的中心设置有卷筒轴，卷筒轴通过轴承设置在固定架上。
  7. 根据权利要求1所述的自适应负载卷扬机构，其特征在于：所述自适应负载卷扬机构的动力源为电机。
  8. 一种自适应负载卷扬机构，其特征在于：用于传递转矩动力，包括支架和顶板，所述顶板设置在支架上方，在支架与顶板之间设置有立柱，在顶板上设置有与立柱相对应的通孔，立柱设置在所述通孔内，立柱的下端与支架相连接；在支架与顶板之间的立柱外设置有第一弹簧，在顶板上设置有两个顶板滑轮，在支架上方中心处设置有卷筒，卷筒为圆锥台型，固定套装在动力输入轴上，动力输入轴通过轴承设置在支架上；在支架上与顶板滑轮相对应的侧面下部设置有传动轮，在传动轮和卷筒之间设置有拉线，所述拉线为封闭线环，并绕过两个顶板滑轮，在本机构工作时卷筒送出拉线的一侧与传动轮卷入拉线的一侧之间的拉线上设置有拉线张紧机构。
  9. 根据权利要求8所述的自适应负载卷扬机构，其特征在于：所述拉线张紧机构包括束线轮及推线轮，束线轮固定设置在支架上，推线轮上设置有第二弹簧，束线轮与推线轮设置在拉线的两侧，第二弹簧为推力弹簧，设置在与拉线相反的一侧。
  10. 根据权利要求8或9所述的自适应负载卷扬机构，其特征在于：所述立柱为四个， 在卷筒的两侧对称设置，顶板、顶板滑轮、拉线、传动轮及拉线张紧机构均为两个，且对称设置在支架的两侧，所述传动轮内侧同轴设置小锥齿轮，在支架的下部设置有动力输出轴，动力输出轴上固定套装有大锥齿轮，所述大锥齿轮分别与两个小锥齿轮相啮合。
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