Reverse pull rope or wire driving device
A driving device and reverse technology, applied in the direction of transmission device, friction transmission device, lifting device, etc., can solve problems such as inconsistency and unsuitable drive direction
Active Publication Date: 2020-12-25
TIANJIN UNIV
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Problems solved by technology
[0003] The purpose of the present invention is to solve the application problem that the device body is not suitable for carrying a driver or the driving direction is inconsistent with the direction of the pull rope (wire), and to provide a reverse pull rope or wire drive device
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[0023] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:
[0024] The present invention proposes a reverse pull rope or wire driving device, which is verified by taking the driving of a vertical climbing robot as an example. Vertical climbing ability has application requirements in many fields, such as high-altitude operations, hull surface cleaning, etc. At present, there are many research results of this type of robot. The basic adsorption principles are electromagnetic adsorption, negative pressure adsorption, and van der Waals force-based microscopic molecular force adsorption with the help of special material properties, etc. Most of the climbing methods are driven by motors. The present invention breaks through the limitations of current research methods, takes mechanical principles as the theo...
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The invention discloses a reverse pull rope or wire driving device. The reverse pull rope or wire driving device comprises a left climbing device, a right climbing device and a winding wheel, whereinthe left climbing device comprises a left climbing rack guide rail and a left climbing gear which are meshed with each other; the right climbing device comprises a right climbing rack guide rail and aright climbing gear which are meshed with each other; the winding wheel comprises a winding groove, a left connecting shaft and a right connecting shaft; the left connecting shaft and the right connecting shaft are arranged on two sides of the winding groove; and the left connecting shaft is fixedly connected to the left climbing gear, and the right connecting shaft is fixedly connected to the right climbing gear, so that the left climbing gear, the winding wheel and the right climbing gear form a moving main body; a rope or a wire is wound on the winding groove; and the free end of the ropeor the wire extends out of the inner side of the winding groove and is vertically downward. On the premise that a fixed pulley and other structures for changing the tension direction are not used on the outer side of the device, the device is made to move in the direction opposite to the tension direction, and the application problem that a driver is not suitable for being carried on a device bodyor the driving direction is inconsistent with the pull rope (wire) direction can be solved.
Description
technical field [0001] The invention relates to a vertical climbing driving device, in particular to a reverse pull rope (wire) driving device. Background technique [0002] As a flexible driving method, drawstring (wire) driving can place the driver outside the device body, reduce the weight of the body, and realize remote driving. It has many applications in various mechanical devices and robots. The current pull rope (wire) driving scheme is that the direction of the pull rope (wire) force is the same as the direction of device movement, that is, the rope (wire) must be arranged in the direction of device movement, but in some cases it is inconvenient to install it in front of the device. The device for fixing or guiding the rope (silk) limits the application of the stay rope (silk) drive in many occasions. Contents of the invention [0003] The purpose of the present invention is to solve the application problem that the device body is not suitable for carrying a driv...
Claims
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IPC IPC(8): B66F11/00B66F13/00F16H19/04
CPCB66F11/00B66F13/00F16H19/043
Inventor 宋智斌张鹏勃赵浩程李奕浩
Owner TIANJIN UNIV