Steel wire rope performance testing device for flexible rope driven rehabilitation robot and testing method thereof

Abstract

The invention discloses a steel wire rope performance testing device for a flexible rope driven rehabilitation robot and a testing method thereof, the steel wire rope performance testing device comprises a vertical pulley module, two horizontal pulley modules, two measuring modules and two driving modules, the vertical pulley module is located in the middle, and the horizontal pulley modules, themeasuring modules and the driving modules are in mirror symmetry. The steel wire rope sequentially penetrates through the driving module, the measuring module, the horizontal pulley module and the vertical pulley module from the driving side to the horizontal pulley module, the measuring module and the driving module on the load side, and the measuring module is provided with a tension sensor component used for detecting tension of the steel wire rope and a pull rope sensor component used for detecting displacement of the steel wire rope. Influence analysis of different wrap angles of the steel wire rope and the pulley on the performance of the steel wire rope is realized by combining detection results of the sensor component. According to the invention, the reciprocating opposite-pull experiment of the steel wire rope can be completed, especially the tension and rope section displacement of the steel wire rope can be detected in real time, and the detection real-time performance and diversity are good.

Description

Technical field: [0001] The invention relates to the field of cable drive, and mainly relates to a wire rope performance test device and a test method for a cable-driven rehabilitation robot. Background technique: [0002] The main difference between the cable-driven robot and the traditional articulated robot is that the cable-driven robot transmits the power generated by the motor to the end effector through the wire rope. Cable-driven rehabilitation robot is a rehabilitation device driven by multiple parallel wire ropes to assist patients in completing rehabilitation exercise training of corresponding parts. The wire rope is an important part of the cable-driven rehabilitation robot. The performance of the wire rope directly determines the position accuracy and transmission force accuracy of the robot's end effector, and determines the effectiveness and safety of rehabilitation training. During rehabilitation training, if the wire rope fails, it may lead to the failure o...

AI Technical Summary

Problems solved by technology

Although this device has the ability to detect the performance of small-diameter wire ropes, it lacks a detection device for the length of the wire rope as a whole. It is inconvenient to remove the wire rope before and after the test and then measure the length manually.

Moreover, the wire rope is wound in a single way, and the wrap angle between the wire rope and the pulley cannot be changed, and the various stress states of the wire rope cannot be simulated.

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