Flexible rope driving device having automatic rope arranging and force measuring functions as well as method

Abstract

The invention relates to a flexible rope driving device having automatic rope arranging and force measuring functions as well as a method. The device mainly comprises a photoelectric encoder, a permanent-magnet direct-current torque motor, a roller, a ball screw, a back support, a flexible rope, a U-groove guiding mechanism, a force measuring guiding mechanism, a circulation guiding mechanism, a locking device and the like. The roller is driven by the permanent-magnet direct-current torque motor to rotate and moves spirally under the co-constraint of the ball screw and cylindrical guide rails, and the two functions of rope winding and rope arranging can be realized simultaneously. The flexible rope winds around the roller and is output through the U-groove guiding mechanism, the force measuring guiding mechanism and the circulation guiding mechanism sequentially. Two times of the flexible rope tension is measured by a tension sensor, so that the noise of the sensor and the effect of the inertia of the sensor on the measurement result can be reduced; and the locking device controls rotation of the screw, and thus the rope arranging function can be started and stopped. The device has the basic functions of rope winding, rope arranging, guiding, force measuring, jamming prevention and the like, adopts the modular design as a whole, is simple in structure, small in occupation size and high in force measuring accuracy, and the flexible rope winds evenly.

Description

technical field [0001] The invention relates to a mechanical transmission device, in particular to a cable drive device and method with functions of automatic rope arrangement and force measurement, which can realize regular arrangement of cables along the axial direction of a reel, real-time measurement of cable tension and prevent mechanism Stuck. Background technique [0002] As a new transmission mode, flexible cable transmission has been widely used in the fields of processing and assembly, aerospace, medical rehabilitation and engineering. Cable transmission has a large load-to-weight ratio, high speed-to-precision ratio, fast response, good flexibility, flexible working methods, and strong environmental adaptability. Therefore, mechanical devices based on cable transmission and cables-driven robots have various forms and are widely used. In the application process of cable transmission, the design of the cable driving device is particularly important. [0003] When ...

AI Technical Summary

Problems solved by technology

A tourniquet (patent number CN2608018Y) uses a tension sensor to detect the pressure on the tourniquet and controls the motor switch. The tension on the sensor is nonlinear to the tension of the cable, and the accuracy and real-time performance of tension measurement are relatively high. Low, no tension control

A flexible cable traction device with force measurement function (patent number CN201210081434.X) can realize flexible cable driving with multiple degrees of freedom in space, and can detect the tension of the flexible cable in real time. Damage, stacking of the wire on the pulley and axial play can also affect the accuracy of the wire tension measurement

The rope tension detection mechanism with zero adjustment (patent number CN201010155278.8) can detect the dynamic and static tension of the flexible cable, but limits the transmission direction and working space of the flexible cable; the reconfigurable flexible cable-driven parallel robot and its drive device ( Patent No. CN200910088558.9), its drive module can make the cables work stably without falling off, and can ensure the cables are arranged in an orderly manner, and the cables will not be loosened and entangled when the power is off, and the device cannot detect cable tension

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