Winder assembly, winding device and method for adjusting drive rope tension

Abstract

The present invention discloses a winding assembly, a winding device, and a method for adjusting the tension of a drive rope. The winding assembly includes an inner rotating part and an outer rotating part. The inner rotating part and the outer rotating part are arranged inside and outside the outer rotating part and can rotate relative to each other after overcoming a certain rotational resistance. The outer rotating part includes a winding area or multiple winding areas arranged in sequence along its axial direction, and the rotational resistance is adjustable. The present invention pre-adjusts the rotational resistance of the winding assembly. When adjusting the tension of the drive rope, it is only necessary to observe whether the winding area continues to rotate to determine whether the tension in the drive rope has reached a set value. After the tension in the drive rope reaches the set value, even if the winding device does not stop, the tension in the drive rope will remain at the set value and will not continue to increase or decrease. The present invention can simultaneously adjust the tension of one or more drive ropes.

Description

Technical Field

[0001] The present invention belongs to the technical field of tension adjustment, and in particular relates to a winder assembly, a winding device and a method for adjusting the tension of a drive rope. Background Art

[0002] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art.

[0003] Wire drives are commonly used in multi-degree-of-freedom motion control for flexible robots. For example, cable-driven joints can be used to achieve multi-degree-of-freedom rotation in small manipulators. The rotational joint structures of these manipulators vary, including various types of revolute pairs and serpentine structures, but they often require cable drive to control the direction and amplitude of rotation. Multiple drive cables are evenly spaced along the manipulator's main axis. By pulling the corresponding drive cables, the manipulator's rotational direction and amplitude are controlled. Setting the tension of the drive cables is a critical step in the manipulator's installation, directly determining the accuracy of the manipulator's control. A common approach to adjusting the tension of the drive cables is to first straighten the manipulator and maintain it in a straight position. Then, the tension of each drive cable is adjusted sequentially, ensuring that the tension is essentially equal and the force magnitude is approximately equal to the target value. This adjustment method can be performed manually without the aid of a specific device, but the results are often poor, with significant deviations from the target value. While existing devices for adjusting the tension of the drive cables can effectively adjust the tension, they also require sequential adjustment. The disadvantage of sequential adjustment is that adjusting the tension of a single drive rope will affect the tension of the other drive ropes. In other words, even if the tension of a drive rope is equal to the target value at the time of adjustment, it will change and deviate from the target value when the other drive ropes are subsequently adjusted. Therefore, it is necessary to repeatedly adjust each drive rope until the tension changes stabilize and its value is roughly equal to the target value. This approach requires repeated adjustment of each drive rope, which lengthens the installation process of the manipulator and leaves room for improvement in installation efficiency. Even experienced engineers can adjust the preload of each drive rope in one step without repeated adjustments. If there are multiple drive ropes, the adjustment process will inevitably require multiple adjustments, so there is still room for improvement.

[0004] Therefore, the existing device for adjusting the tension of the drive rope has deficiencies in terms of process steps. A better device should have the same or better performance as the existing similar device and also have a more simplified process steps. Summary of the Invention

[0005] To this end, the technical problem to be solved by the present invention is to provide a winder assembly, a winding device and a method for adjusting the tension of a drive rope.

[0006] In order to solve the above technical problems, the present invention provides a winding assembly for adjusting the tension of a drive rope, comprising an inner rotating part and an outer rotating part. The inner rotating part is arranged inside and outside the outer rotating part and can rotate relative to each other after overcoming a certain rotational resistance. The outer rotating part includes a winding area or multiple winding areas arranged in sequence along its axial direction and the rotational resistance is adjustable.

[0007] In one embodiment of the present invention, the plurality of winding areas are separately provided and do not transmit power to each other. The plurality of winding areas can rotate relative to the inner rotating part after overcoming the same rotation resistance.

[0008] In one embodiment of the present invention, the inner rotating part includes a resistance shaft or multiple resistance shafts arranged in sequence along its axial direction. The resistance shafts are arranged inner and outer correspondingly to the winding area one by one and constitute a winding unit component. The multiple resistance shafts transmit power to each other and are detachably connected.

[0009] In one embodiment of the present invention, the winding unit includes an inner ring, a middle ring, an outer ring, an axial slider, a radial slider and a resistance bead, the inner ring and the middle ring are sequentially arranged from the inside to the outside with the outer ring, the inner ring and the middle ring are relatively fixed and an axial channel extending along the axial direction of the winding unit is formed therebetween, the middle ring is provided with a radial channel, the two ends of the axial channel respectively penetrate the two end planes of the winding unit, one end of the radial channel penetrates the outer side wall of the winding unit, and the other end of the radial channel penetrates the inner wall of the axial channel; the axial slider is movable along the axial direction of the winding unit and cannot be completely detached and is arranged in the axial channel, the radial slider and the resistance bead are movable along the radial direction of the winding unit and cannot be completely detached and are arranged in the radial channel In the track, the axial slider moves axially along the winding unit component under the drive of the adjusting mechanism, the radial slider cooperates with the inclined surface of the axial slider and the radial slider moves radially along the winding unit component under the drive of the axial slider, a resistance top ball spring is provided between the resistance top ball and the radial slider, the resistance top ball is pressed tightly against the inner side wall of the outer ring component along the radial direction of the winding unit under the elastic reset action of the resistance top ball spring, and the resistance top ball spring changes the elastic reset force under the radial force of the radial slider; the multiple axial sliders of the multiple winding units are sequentially abutted end to end and synchronously move axially along the winding unit component under the drive of the same adjusting mechanism, and the multiple radial sliders of the multiple winding units are synchronously moved radially along the winding unit component under the drive of the multiple axial sliders.

[0010] In one embodiment of the present invention, the inner side wall of the outer ring member is provided with a plurality of resistance grooves, and the plurality of resistance grooves are arranged in sequence along the axial direction of the outer ring member, each of the resistance grooves extends along the axial direction of the outer ring member, and the inner side wall of the outer ring member has a smooth transition everywhere.

[0011] In one embodiment of the present invention, the axial channel is provided with a first slider baffle at the middle position along its length direction, and the head end and tail end of the axial slider are respectively provided with a second slider baffle and a third slider baffle, when the axial slider moves along the axial channel, the first slider baffle, the second slider baffle and the third slider baffle block each other to limit the axial slider from completely disengaging from the axial channel; a first spring baffle is also provided in the axial channel, and the axial slider is also provided with a second spring baffle, and a return spring is connected between the first spring baffle and the second spring baffle, and the adjusting mechanism pushes the axial slider to move, and the axial slider is pressed against the adjusting mechanism under the action of the return force of the return spring.

[0012] In one embodiment of the present invention, the resistance shaft is provided with a serial male port and a serial female port at both ends along its axial direction, the serial male port is connected with a positioning top bead that cannot be completely detached, and the serial female port is provided with a positioning hole. Among the two adjacent resistance shafts, the serial male port of one is arranged inside and outside the serial female port of the other and the two cannot achieve relative rotation. The positioning top bead of the serial male port extends into the positioning hole of the serial female port along the radial direction of the resistance shaft under the action of the elastic reset force of the positioning top bead spring.

[0013] In one embodiment of the present invention, a guide bead is connected to the resistance shaft so as not to be completely detachable, and the inner side wall of the winding area is provided with an arcuate groove extending along its circumference. Under the action of the elastic reset force of the guide bead spring, the guide bead extends into the arcuate groove along the radial direction of the resistance shaft, so that the resistance shaft and the winding area can rotate relative to each other but cannot move axially relative to each other.

[0014] In one embodiment of the present invention, the outer wall of the winding area is provided with two annular protrusions located at both ends of the axial direction and extending along the circumference thereof, and the winding area is provided with a wire locking hole and a wire locking bolt, and the wire locking bolt tightens the wire rope inserted into the wire locking hole against the hole wall of the wire locking hole.

[0015] The present invention also provides a winding device for adjusting the tension of a drive rope, comprising a frame, the winding assembly as described above, and a power assembly, wherein the inner rotating part is connected to the frame, and the power assembly drives the inner rotating part to rotate.

[0016] In one embodiment of the present invention, the frame includes a base, two supports that are specifically adjustable and connected to the base, two transmission members respectively connected to the two supports, and an adjustment mechanism connected to one of the transmission members, and the two ends of the inner rotating part are respectively connected to the two transmission members.

[0017] In one embodiment of the present invention, the adjustment mechanism is an adjustment bolt that is rotationally connected to the transmission member.

[0018] In one embodiment of the present invention, the power assembly is a motor or a handwheel that can drive the transmission member to rotate.

[0019] The present invention also provides a method for adjusting the tension of a drive rope, comprising the following steps:

[0020] S1. Provide the winding device as described above;

[0021] S2. Connecting two ends of a calibration rope to a force calibration device and the winding area respectively and locking the inner rotating part;

[0022] S3, adjusting the rotational resistance from small to large and keeping the calibration rope taut until the winding area cannot rotate and the rotational resistance reaches the set value;

[0023] S4, connecting and fixing the free ends of the drive ropes to the winding areas in a one-to-one correspondence and releasing the lock on the inner rotating part;

[0024] S5, the power assembly drives the inner rotating part to rotate until all the winding areas stop rotating and the tension of all the drive ropes is balanced with the rotation resistance;

[0025] S6. The power assembly continues to drive the inner rotating part to rotate or locks the inner rotating part to complete the tension adjustment of all the tension ropes.

[0026] In one embodiment of the present invention, the force calibration device is a spring balance or a tension meter. In step S3, the calibration rope is tightened by moving the force calibration device, and the rotational resistance is adjusted from a small value to a large value. When the indication of the force calibration device reaches a set value, the rotational resistance reaches the set value.

[0027] When the force calibration device is a weight, in step S3, the weight tightens the calibration rope under the action of its own weight, and when the rotation resistance is adjusted from small to large, when the winding area cannot rotate, the rotation resistance reaches the set value.

[0028] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0029] 1) The present invention discloses a winding assembly, a winding device, and a method for adjusting the tension of a drive rope. The winding assembly and the winding device are provided with an inner rotating portion and an outer rotating portion, and an adjustable rotational resistance is formed between the inner rotating portion and the outer rotating portion. The rotational resistance of the winding assembly is pre-adjusted. When adjusting the tension of the drive rope, it is only necessary to observe whether the winding area continues to rotate to determine whether the tension in the drive rope has reached the set value. After the tension in the drive rope reaches the set value, even if the winding device is not shut down, the tension in the drive rope will remain at the set value and will not continue to increase or decrease. The invention can adjust the tension of one or more drive ropes simultaneously.

[0030] 2) The present invention discloses a winding assembly, a winding device, and a method for adjusting the tension of a drive rope. The multiple winding zones do not transmit power to each other and have the same rotational resistance. When adjusting the tension of multiple drive ropes, since each drive rope is connected to a winding zone, if the tension of a drive rope reaches a set value, the winding zone corresponding to the drive rope will not continue to rotate. If the tension of a drive rope does not reach the set value, the winding zone corresponding to the drive rope will continue to rotate. Even if the lengths of the multiple drive ropes are different, the tension of the multiple drive ropes can be adjusted to be consistent at one time.

[0031] 3) The winding assembly, winding device, and method disclosed in the present invention for adjusting the tension of a drive rope include a resistance shaft configured to be detachably connected to form multiple winding units, which can be quickly stacked in a corresponding number of winding units based on the number of drive ropes.

[0032] 4) The present invention discloses a winding assembly, winding device, and method for adjusting the tension of a drive rope. By providing an inner ring member, a middle ring member, an outer ring member, an axial slider, a radial slider, and a resistance bead, the rotational resistance is adjusted along the axial direction of the winding assembly, thereby allowing multiple winding units to be stacked as needed.

[0033] 5) The winding assembly, winding device, and method for adjusting the tension of the drive rope disclosed in the present invention increase the rotational resistance between the inner rotating portion and the outer rotating portion by providing a resistance groove;

[0034] 6) The winding assembly for adjusting the tension of the drive rope disclosed in the present invention is provided with a positioning top bead so that different resistance shafts can be quickly disassembled and assembled;

[0035] 7) The winder assembly for adjusting the tension of the drive rope disclosed in the present invention is provided with a guide top bead so that the inner rotating part and the outer rotating part cannot move axially but can rotate relative to each other after overcoming a certain rotational resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings in the specification, which constitute a part of this application, are used to provide further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0037] Figure 1 A three-dimensional diagram of the winding device disclosed in the present invention when adjusting the tension;

[0038] Figure 2 It is an exploded schematic diagram of a winding unit disclosed in the present invention;

[0039] Figure 3 A front cross-sectional view of a winding device unit disclosed in the present invention;

[0040] Figure 4 A front cross-sectional view showing two winding unit elements connected with a larger rotational resistance and a front cross-sectional view showing a smaller rotational resistance;

[0041] Figure 5 The main cross-sectional view, left side view and right side view of the inner ring member disclosed in the present invention;

[0042] Figure 6 The main cross-sectional view, left side view and right side view of the middle ring member disclosed in the present invention;

[0043] Figure 7 These are the main sectional view, left side view and right side view of the outer ring component disclosed in the present invention.

[0044] Figure 8 The front sectional view and side view of the winding device when calibrating the rotation resistance;

[0045] Figure 9 A perspective view of the winding device during rotation resistance calibration;

[0046] Figure 10 Schematic diagram of adjusting the tension of the drive rope for the winding device.

[0047] Among them, 1. frame; 11. base; 111. slide rail; 12. support; 121. slider structure; 122. locking bolt; 123. bearing seat; 124. bearing; 125. opening; 13. first transmission member; 131. first pillow block; 132. first recessed structure; 133. second recessed structure; 14. second transmission member; 141. second pillow block; 142. raised structure; 143. through hole; 144. adjusting bolt;

[0048] 2. Winder assembly; 201. Winding area; 20. Winder unit;

[0049] 21. Inner ring; 211. Serial female connector; 2111. Positioning hole; 212. Serial male connector; 2121. Inner cavity; 2122. Positioning bead; 2123. Positioning bead spring; 2124. Positioning bead groove; 213. Spring track; 2131. First spring track segment; 2132. Second spring track segment; 2133. First spring baffle; 214. First through slot; 215. First connecting structure;

[0050] 22, middle ring member; 221, guide ball groove; 2211, guide ball spring; 2212, guide ball; 222, second through groove; 2221, first slider track; 2222, second slider track; 2223, first slider baffle; 223, radial channel; 224, second connecting structure;

[0051] 23. Outer ring; 231. Annular protrusion; 232. Threaded hole; 233. Arc groove; 234. Resistance groove;

[0052] 241, axial slider; 2411, first inclined surface; 2412, second slider baffle; 2413, third slider baffle; 2414, second spring baffle; 242, radial slider; 2421, second inclined surface; 243, resistance ball; 244, return spring; 245, resistance ball spring; 25, axial channel;

[0053] 3. Power assembly; 4. Calibration device; 5. Hexagonal wrench; 6. Drive rope. DETAILED DESCRIPTION

[0054] The specific implementation of the present invention is further described in detail below with reference to the accompanying drawings and examples.

[0055] It should be noted that the following detailed descriptions are exemplary and are intended to provide further improved descriptions of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those generally understood by those skilled in the art to which this application belongs. It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, parts and / or combinations thereof. In the present disclosure, the directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom" etc. are based on the directions or positional relationships shown in the accompanying drawings. They are only related words determined for the convenience of describing the structural relationships of the various parts or elements of the present disclosure, and do not specifically refer to any one or element in the present disclosure and cannot be understood as limitations on the present disclosure. In this disclosure, terms such as "fixed connection," "connected," and "connection" should be interpreted broadly to mean a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediary. Relevant researchers or technicians in this field may determine the specific meaning of these terms in this disclosure based on specific circumstances, and they should not be construed as limitations of this disclosure.

[0056] The following is a preferred embodiment for illustrating the present invention, but is not intended to limit the scope of the present invention.

[0057] Example 1

[0058] See also Figures 1 to 10 As shown in the figure, a winding device for adjusting the tension of a drive rope comprises:

[0059] Rack 1;

[0060] The winding assembly 2 includes an inner rotating portion and an outer rotating portion. The inner rotating portion is disposed inside and outside the outer rotating portion and can rotate relative to the outer rotating portion after overcoming a certain rotational resistance. The inner rotating portion is connected to the frame 1. The outer rotating portion includes a plurality of winding areas 201 arranged in sequence along its axial direction, and the rotational resistance is adjustable.

[0061] The power assembly 3 drives the inner rotating part to rotate.

[0062] In a preferred implementation manner of this embodiment, the plurality of winding areas 201 are separately provided and do not transmit power to each other. The plurality of winding areas 201 can rotate relative to the inner rotating part after overcoming the same rotational resistance.

[0063] In the preferred implementation mode of this embodiment, the above-mentioned inner rotating part has multiple resistance shafts arranged in sequence along its axial direction. The above-mentioned resistance shafts are arranged one-to-one with the inner and outer sleeves of the above-mentioned winding area 201 and form a winding unit component 20. The above-mentioned multiple resistance shafts are mutually transmitted and detachably connected.

[0064] In the preferred embodiment of the present invention, the winding unit 20 includes an inner ring 21, a middle ring 22, an outer ring 23, an axial slider 241, a radial slider 242 and a resistance bead 243. The inner ring 21 and the middle ring 22 are sequentially arranged from the inside to the outside with the outer ring 23. The inner ring 21 and the middle ring 22 are relatively fixed and an axial channel 25 extending along the axial direction of the winding unit 20 is formed between the two. The middle ring 22 is provided with a radial channel 223. The two ends of the axial channel 25 are provided with a radial channel 223. The ends of the radial channel 223 penetrate the two end planes of the above-mentioned winding unit 20 respectively, one end of the above-mentioned radial channel 223 penetrates the outer wall of the above-mentioned winding unit 20, and the other end of the above-mentioned radial channel 223 penetrates the inner wall of the above-mentioned axial channel 25; the above-mentioned axial slider 241 is movable along the axial direction of the above-mentioned winding unit 20 and cannot be completely separated from the above-mentioned axial channel 25, the above-mentioned radial slider 242 and the above-mentioned resistance top ball 243 are movable along the radial direction of the above-mentioned winding unit 20 and cannot be completely separated from the above-mentioned radial channel 2 23, the axial slider 241 is movable along the axial direction of the winding unit 20 under the drive of an adjustment transmission mechanism, the radial slider 242 is matched with the inclined surface of the axial slider 241 and the radial slider 242 is movable along the radial direction of the winding unit 20 under the drive of the axial slider 241, and a resistance bead spring 245 is provided between the resistance bead 243 and the radial slider 242. The resistance bead 243 is elastically reset along the winding unit 20 under the elastic return action of the resistance bead spring 245. 0 is radially pressed against the inner wall of the outer ring part 23, and the resistance ball spring 245 changes the elastic reset force under the radial force of the radial slider 242; the multiple axial sliders 241 of the multiple winding unit components 20 are successively abutted end to end and synchronously moved along the axial direction of the winding unit component 20 under the drive of the same above-mentioned adjusting transmission mechanism, and the multiple radial sliders 242 of the multiple winding unit components 20 are synchronously moved along the radial direction of the winding unit component 20 under the drive of the multiple axial sliders 241.

[0065] In a preferred implementation manner in this embodiment, the axial channel 25 is provided with a first slider baffle 2223 in the middle section along its length direction, and the head end and tail end of the axial slider 241 are respectively provided with a second slider baffle 2412 and a third slider baffle 2413. When the axial slider 241 moves along the axial channel 25, the first slider baffle 2223, the second slider baffle 2412 and the third slider baffle 2413 block each other to limit the axial slider 241 from completely disengaging from the axial channel 25.

[0066] In the preferred implementation mode of this embodiment, a first spring baffle 2133 is further provided in the above-mentioned axial channel 25, and a second spring baffle 2414 is further provided in the above-mentioned axial slider 241. A return spring 244 is connected between the above-mentioned first spring baffle 2133 and the above-mentioned second spring baffle. The above-mentioned adjusting bolt 144 pushes the above-mentioned axial slider 241 to move, and the above-mentioned axial slider 241 is pressed against the above-mentioned adjusting mechanism under the action of the return force of the above-mentioned return spring 244.

[0067] In the preferred implementation manner of this embodiment, the above-mentioned winding unit component 20 is respectively provided with a serial male port 212 and a serial female port 211 at both ends along its axial direction, and a positioning top bead 2122 is connected to the above-mentioned serial male port 212 and cannot be completely detached, and a positioning hole 2111 is provided on the above-mentioned serial female port 211. Among the two adjacent winding unit components connected in series, the serial male port 212 of one of them is arranged inside and outside the serial female port 211 of the other and the two cannot achieve relative rotation, and the positioning top bead 2122 of the above-mentioned serial male port 212 extends into the positioning hole 2111 of the above-mentioned serial female port 211 along the radial direction of the above-mentioned winding unit component 20 under the action of the elastic reset force of the positioning top bead spring 2123.

[0068] In a preferred implementation manner in this embodiment, the above-mentioned resistance shaft also includes a guide top bead 2212 connected to the above-mentioned winding unit and cannot be completely detached. The inner side wall of the above-mentioned outer ring member 23 is provided with an arc surface groove 233 extending along its circumference. The above-mentioned guide top bead 2212 extends into the above-mentioned arc surface groove 233 along the radial direction of the above-mentioned winding unit member 20 under the action of the elastic reset force of the guide top bead spring 2211, so that the above-mentioned resistance shaft and the above-mentioned outer ring member 23 can rotate relative to each other but cannot move axially relative to each other.

[0069] In the preferred embodiment of this embodiment, the outer side wall of the winding area 201 is provided with two annular protrusions 231 located at both ends of the axial direction and extending along the circumference thereof, and the winding area 201 is provided with a wire locking hole and a wire locking bolt, and the wire locking bolt tightens the wire rope inserted into the wire locking hole against the hole wall of the wire locking hole.

[0070] In a preferred embodiment of the present invention, the frame 1 includes a base 11, two supports 12 specifically and adjustably connected to the base 11, a first transmission member 13 and a second transmission member 14 respectively connected to the two supports 12, and an adjustment mechanism connected to the second transmission member 14, and the two ends of the inner rotating portion are respectively connected to the first transmission member 13 and the second transmission member 14.

[0071] In one embodiment of the present invention, the adjustment mechanism is an adjustment bolt that is rotationally connected to the second transmission member 14 .

[0072] In one embodiment of the present invention, the power assembly 3 is a motor or a hand wheel capable of driving the second transmission member 14 to rotate.

[0073] The present invention also provides a method for adjusting the tension of a drive rope, comprising the following steps:

[0074] S1. Provide the above-mentioned winding device;

[0075] S2. Connecting the two ends of a calibration rope to a force calibration device 4 and the winding area 201 respectively and making the resistance shaft non-rotatable;

[0076] S3, adjusting the rotational resistance from small to large and keeping the calibration rope taut until the winding area 201 cannot rotate and the rotational resistance reaches the set value;

[0077] S4, connecting and fixing the free ends of the driving rope 6 to the winding areas 201 in a one-to-one correspondence and making the resistance shaft rotatable;

[0078] S5. The power assembly 3 drives the resistance shaft and the winding area 201 to rotate synchronously until all the winding areas 201 stop rotating and the tension of all the drive ropes 6 is balanced with the rotation resistance.

[0079] S6. The power assembly 3 continues to drive the resistance shaft to rotate or locks the resistance shaft to complete the tension adjustment of all the tension ropes.

[0080] In the preferred implementation manner of this embodiment, the force calibration device 4 is a spring balance or a tension meter. In step S3, the calibration rope is tightened by moving the force calibration device 4, and the rotation resistance is adjusted from small to large. When the indication of the force calibration device 4 is a set value, the rotation resistance reaches the set value. When the force calibration device 4 is a weight, in step S3, the weight tightens the calibration rope under the action of its own weight, and the rotation resistance is adjusted from small to large. When the winding area 201 cannot rotate, the rotation resistance reaches the set value.

[0081] See also Figure 2 and Figure 3 The outer wall of the inner ring member 21 is provided with a first through-slot 214, and the inner wall of the middle ring member 22 is provided with a second through-slot 222. These first and second through-slots 214 and 222 mate to form the axial channel 25. The middle section of the axial slider 241 is formed by a first inclined surface 2411, flanked by a second slider stopper 2412 and a third slider stopper 2413. A second spring stopper 2414 is provided on the inwardly facing surface of the third slider stopper 2413 for mounting a return spring 244. One end of the radial slider 242 is provided with a second inclined surface 2421, which mates with the first inclined surface 2411 of the axial slider 241, enabling smooth relative movement between the two. The resistance bead 243 has a smooth spherical surface at its leading end and a flange at its trailing end. This flange mates with the radial channel 223, allowing the resistance bead 243 to move smoothly within the radial channel 223. The axial slider 241 reciprocates linearly along the first through-slot 214 of the inner ring 21 and the second through-slot 222 of the middle ring 22. Its travel is determined by the first slider stopper 2223. A return spring 244 is interposed between the axial slider 241 and the first spring stopper 2133 of the inner ring 21. One end of the return spring 244 abuts against the third slider stopper 2413 at one end of the axial slider 241 and is held in position by the second spring stopper 2414. The other end of the return spring abuts against the corresponding end of the first spring stopper 2133 in the middle section of the spring rail 213 of the inner ring 21. The radial slider 242 reciprocates linearly along the radial channel 223 of the middle ring 22. A resistance ball 243 is positioned within the radial channel 223, with its spherical end protruding from the channel and its flanged end preventing it from fully dislodging. A resistance ball spring 245 is provided between the resistance ball 243 and the radial slider 242. The resistance ball spring 245 always applies an outward force to the resistance ball 243, so that the resistance ball 243 is always in contact with the resistance groove 234 of the outer ring member 23 and applies a certain force to it.

[0082] See also Figure 4 , when the axial slider 241 occurs Figure 4 During leftward movement as shown on the left, radial slider 242 moves upward due to the contact between first inclined surface 2411 and second inclined surface 2421. At this point, resistance ball spring 245 is compressed, exerting a rightward thrust on axial slider 241. The compression of resistance ball spring 245 increases the thrust on resistance ball 243, thereby increasing the pressure between resistance ball 243 and outer ring member 23. Outer ring member 23 must overcome greater resistance to rotate relative to center ring member 22. Figure 4The axial slider 241 of the winding unit component 20 shown on the left side will enter the first through slot 214 and the second through slot 222 of the winding unit component 20 adjacent to its left after moving to the left. Similarly, the axial slider 241 of the winding unit component 20 adjacent to the right of the winding unit component 20 will enter the first through slot 214 and the second through slot 222 of the winding unit component 20. Since the cross-sectional profile of the first through slot 214 and the second through slot 222 is larger than the cross-sectional profile of the axial slider 241, the movement of the axial slider 241 can be completed smoothly without interference. The axial sliders 241 of adjacent winding unit components 20 will contact each other and transmit the same axial motion. Similarly, when the axial slider 241 moves to the right, the states of each component are as follows. Figure 4 Unlike the leftward movement of the axial slider 241, based on the various relative relationships when moving to the left, when moving to the right, the lower end of the third slider baffle 2413 of the axial slider 241 of the winding unit 20 will enter the second spring track section 2132 of the winding unit 20 adjacent to its right, and the third slider baffle 2413 of the axial slider 241 of the winding unit 20 adjacent to its left will enter the second spring track section 2132 of the winding unit 20.

[0083] See also Figure 5The inner ring 21 has two side surfaces, each equipped with a mating serial female connector 211 and a serial male connector 212. The serial female connector 211 is a recessed structure, with an outward-extending positioning hole 2111 defined on its inner wall. The serial male connector 212 is a raised structure, with an inner cavity 2121 containing a positioning bead spring 2123 and a positioning bead 2122. The side walls of the serial male connector 212 are provided with a positioning bead groove 2124, from which the positioning bead 2122 extends. The leading end of the positioning bead 2122 is a smooth spherical surface, with a flange near the trailing end to prevent it from completely dislodging from the positioning bead groove 2124 on the side walls of the serial male connector 212, ensuring that the positioning bead 2122 remains within the inner cavity 2121 of the serial male connector 212. The positioning bead spring 2123 provides an outward force to the positioning bead 2122. When multiple winding unit components 20 are connected in series, the serial female connector 211 / serial male connector 212 of a single inner ring component 21 interlocks with the serial male connector 212 / serial female connector 211 of another adjacent inner ring component 21. The smooth spherical surface of the positioning bead 2122 inserts into the positioning hole 2111 on the inner wall of the serial female connector 211 of the other inner ring component 21. A spring rail 213 and a first through-slot 214 are provided parallel to the axis of the inner ring component 21. The first through-slot 214 extends axially through the inner ring component 21 and radially through the curved outer surface of the inner ring component 21. The spring rail 213 is divided into a first spring rail section 2131 near the serial female connector 211 and a second spring rail section 2132 near the serial male connector 212, separated by a first spring stop 2133. The first spring stop 2133 and the adjacent plane of the first spring track segment 2131 contact one end of the return spring 244, thereby resisting the return spring 244. A first connecting structure 215, such as a threaded hole or a threaded half-hole, is provided on the curved outer surface of the inner ring member 21. This first connecting structure 215, such as a threaded hole or a threaded half-hole, engages with a bolt, or a bolt and a connecting member, to achieve synchronous rotation with the middle ring member 22. The figure shows a single bolt engaged with a threaded half-hole. Therefore, the second connecting structure 224 at the corresponding position on the middle ring member 22 must be engaged and threaded together.

[0084] See also Figure 6One or more guide ball grooves 221 extending outward through the curved outer surface of the middle ring member 22 are provided on the side surface of one side of the middle ring member 22. These grooves house an equal number of guide ball springs 2211 and guide balls 2212. The leading end of each guide ball 2212 is a smooth spherical surface, with a flange near the trailing end. These guide balls 2212 extend outward from the guide ball groove 221 to connect with the outer ring member 23. The guide ball spring 2211 abuts against the trailing end of the guide ball 2212 and contacts the inner surface of the guide ball groove 221, constantly exerting a force that pushes the guide balls 2212 outward. A second through groove 222 is provided in the middle ring member 22, parallel to its axis. This second through groove 222 connects to both sides of the middle ring member 22 and extends inward through the inner curved surface of the middle ring member 22. A first slider stopper 2223 is located in the middle of the second through-slot 222 to limit the travel of the axial slider 241. This divides the second through-slot 222 into two sections: a first slider track 2221 and a second slider track 2222. A radial channel 223 is provided on the first slider stopper 2223, radially collinear with the circular cross-sectional profile of the middle ring member 22. The radial channel 223 extends outward through the curved outer surface of the middle ring member 22, with its cross-section tapering near the curved outer surface to prevent the resistance ball 243 from completely dislodging. The radial slider 242 can smoothly move along the radial channel 223. A second connecting structure 224, such as a threaded hole or a threaded half-hole, is provided on the side of the middle ring member 22 opposite the guide ball groove 221. This second connecting structure, such as a threaded hole or a threaded half-hole, is used to engage a bolt, or a combination of a bolt and a connecting member, to achieve synchronous rotation with the inner ring member 21. The figure shows a single bolt fitted with a threaded half hole, so the first connection structure 215 at the corresponding position of the inner ring member 21 needs to be fitted with the bolt and then threaded together.

[0085] See also Figure 7 The outer ring 23 has annular protrusions 231 on either side of its curved outer surface, which define and regulate the winding position of the drive rope 6 for tension adjustment. The outer ring 23 has threaded holes 232 parallel to the axis, housing a locking bolt. The threaded holes 232 partially penetrate its curved outer surface. One end of the drive rope 6 for tension adjustment is inserted through the threaded holes 232, located at a cutout on the curved outer surface of the outer ring 23. The bolt is then screwed in until the drive rope 6 for tension adjustment is tightened, completing the connection between the drive rope 6 and the outer ring 23. The inner curved surface of the outer ring 23 has an arcuate groove 233 (shown on the left side of the diagram), which engages with the guide bead 2212 on the middle ring 22. This prevents relative axial movement between the outer ring 23 and the middle ring 22, but allows relative rotation. The inner arc surface of the outer ring member 23 is covered with axial resistance grooves 234 on the right side of the figure, which contact the spherical end of the resistance top bead 243, so that the outer ring member 23 needs to overcome a certain resistance before it can rotate relative to the middle ring member 22.

[0086] See also Figure 8, the winding assembly 2 only includes one winding unit 20. The frame is composed of a base 11, a support 12, a first transmission member 13 and a second transmission member 14. A slide rail 111 is provided on the base 11, and its length is long enough to be suitable for adjusting different numbers of drive ropes 6. There are two supports 12, each with a slider structure 121 at the bottom, which cooperates with the slide rail 111 of the base 11 and can move linearly along it, and a locking bolt 122 is provided at the bottom for locking, so as to achieve adjustment of the distance between the two supports 12 to match the increase or decrease in the number of winding units 20. A bearing seat 123 is provided on the top of each support 12, each of which has a bearing 124 placed therein, and the first transmission member 13 and the second transmission member 14 pass through the two bearings 124 respectively, so that both can rotate smoothly around their own axes. On one side of the first transmission member 13, a first, outwardly extending, pillow block 131 is provided for placement on the bearing 124 of the support 12. On the other side, a first recessed structure 132 is provided for mating with the serial male port 212 of the inner ring member 21, thereby connecting to the winding unit 20, enabling synchronous rotation of the first transmission member 13 and the inner ring member 21. This side also has a second, outwardly extending, recessed structure 133 for accommodating an axial slider 241. On one side of the second transmission member 14, a second, outwardly extending, pillow block 141 is provided. This second pillow block 141 is elongated, extending partially beyond the bearing 124 of the support 12. This extended portion is used to connect to the power assembly 3. On the other side, a protruding structure 142 is provided for connection to the serial female port 211 of the inner ring member 21 of the adjacent winding unit 20, enabling synchronous rotation of the first transmission member 13 and the inner ring member 21. A through hole 143 is provided in the second transmission member 14, parallel to its axis. The through hole 143 consists of two sections. The diameter of the through hole connected to the pillow block is larger than that of the other section. The smaller section is threaded and mounted with an adjustment bolt 144. Through hole 143 is positioned opposite an axial slider 241 on the adjacent winding unit 20. The position of axial slider 241 can be adjusted by rotating adjustment bolt 144. An opening 125 is provided above the bearing 124 at the top of the support 12, through which adjustment bolt 144 can be rotated using a tool such as a wrench. The figure shows through hole 143, adjustment bolt 144, and opening 125 all located on the second transmission member 14. In other embodiments, this structure can be located on the first transmission member 13, allowing the position of axial slider 241 to be adjusted from that end. Furthermore, this structure can be provided on both the first and second transmission members 13 and 14.

[0087] See also Figure 9In this embodiment, the calibration device 4 is an electronic dynamometer. In other embodiments, it can be another device capable of obtaining a quantitative force or torque value, such as a spring scale or weights. To ensure the accuracy of the set tension, it is recommended to install only one winding unit 20. However, in scenarios where accuracy is not critical, multiple winding units 20 can be assembled together when setting the rope tension. When setting the rope tension, first connect the calibration device 4 to the winding unit 20 closest to the second transmission member 14 with a rope. Subsequently, a tool such as a screwdriver or a wrench (shown as a hexagonal wrench 5 in the figure) is used to rotate the adjusting bolt 144 on the second transmission member 14 to push the axial slider 241 on the winding unit 20. The axial slider 241 pushes the radial slider, thereby adjusting the force that prevents the resistance ball 243 from retracting backward. During the process of screwing in the adjusting bolt 144, the force increases from small to large, and during the adjustment process, the hexagonal wrench 5 rests on the side of the opening 125 at the top of the support 12 of the frame 1, or other methods of fixing the position are used. This will not be discussed in detail here. As long as the position of the second transmission member 14 is fixed and no rotational movement is generated, it is sufficient. Then, move the calibration device 4 so that the rope between it and the winding unit 20 is tightened. Afterwards, rotate the adjusting bolt 144 until the force output by the calibration device 4 is equal to the resistance torque on the resistance ball 243 caused by the adjusting bolt 144. The calibration device 4 of this embodiment is an electronic dynamometer, so specifically, its reading at this time is the set value. The same is true for other metric measuring devices, such as spring scales. If the calibration device 4 is a device such as a weight that uses gravity to output a constant force, it will appear that the weight previously moved downward, but now no longer moves.

[0088] See also Figure 10 In this embodiment, the power assembly 3 is a motor and a coupling, which provides power for the rotational motion. In other embodiments, it can be other devices that can output rotational motion, such as a manual wheel with a locking angle function. This step requires Figure 9 After the calibration is completed, remove the tools such as screwdrivers and wrenches used to rotate the bolts. Figure 9The tool used is a hexagonal wrench 5, and the rope on the winder unit 20 is removed. Then, multiple drive ropes 6 whose tension is to be adjusted are connected to the same number of winder units 20, and the drive ropes 6 are tightened by the bolts in the threaded holes 232 to achieve the connection between the two. Then, check whether the winder units 20 are correctly connected, whether the distance between the supports 12 is appropriate, whether the power assembly 3 is correctly connected to the second transmission member 14, etc. Then, let the power assembly 3 output rotational motion, that is, let the motor be powered to rotate it, or continue to rotate the wheel. After the force is balanced, the tension on these drive ropes 6 is equal to the set value. At this time, let the motor continue to rotate or lock the wheel to maintain the tension. At this point, the tension of the multiple drive ropes 6 is adjusted. The principle of equal tensioning force lies in the close contact between the axial sliders 241 of adjacent winding units 20, resulting in equal travel distances for each. The radial sliders 242 also travel equal distances, and the pressure exerted on each resistance bead 243 by the resistance bead spring 245 is equal. Consequently, equal resistance torque is exerted between the resistance bead 243 and the resistance groove 234. At this point, the resistance to relative rotation between the resistance axis and the winding area of ​​each winding unit 20 is equal. In most cases, the lengths of the drive ropes 6 whose tension is to be adjusted are not the same. If the drive rope 6 is not tightened, there is no relative movement between the resistance bead 243 and the resistance groove 234. The outer ring 23 rotates with the power assembly 3 until the drive rope 6 is tightened. The power assembly 3 continues to rotate, and relative movement occurs between the resistance bead 243 and the resistance groove 234. After the movement stabilizes, the torque generated by the tension on the drive rope 6 is equal to the resistance torque between the resistance bead 243 and the resistance groove 234. Therefore, the tension on each drive rope 6 is equal and equal to the calibration value.

[0089] The above is a description of the embodiments of the present invention. The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing entirely from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A winder assembly for adjusting the tension of a drive rope, characterized in that: It includes an inner rotating part and an outer rotating part, wherein the inner rotating part is arranged inside and outside the outer rotating part and can rotate relative to the outer rotating part after overcoming a certain rotation resistance. The inner rotating part includes a resistance shaft or multiple resistance shafts arranged in sequence along its axial direction, and the resistance shaft includes an inner ring, a middle ring, an axial slider, a radial slider and a resistance top ball. The outer rotating part includes a winding area or a plurality of winding areas arranged in sequence along its axial direction, and the rotation resistance is adjustable, and the winding area includes an outer ring member; The inner ring member and the middle ring member are sequentially sleeved with the outer ring member from the inside to the outside, the inner ring member and the middle ring member are relatively fixed and an axial channel extending along the axial direction of the resistance shaft is formed therebetween, the middle ring member is provided with a radial channel, both ends of the axial channel respectively penetrate the two end planes of the resistance shaft, one end of the radial channel penetrates the outer side wall of the resistance shaft, and the other end of the radial channel penetrates the inner wall of the axial channel; the axial slider is movable along the axial direction of the resistance shaft and cannot be completely detached and is arranged in the axial channel, the radial slider and the resistance top bead are arranged along the resistance The force shaft is radially movable and cannot be completely detached and is arranged in the radial channel. The axial slider moves axially along the resistance shaft under the drive of the adjustment mechanism. The radial slider cooperates with the inclined surface of the axial slider and the radial slider moves radially along the resistance shaft under the drive of the axial slider. A resistance ball spring is provided between the resistance top ball and the radial slider. The resistance top ball is pressed against the inner side wall of the outer ring member in the radial direction of the resistance shaft under the elastic restoring action of the resistance ball spring. The resistance ball spring changes the elastic restoring force under the radial force of the radial slider.

2. The cable winder assembly according to claim 1, wherein The plurality of winding areas are separately arranged and do not transmit power to each other. The plurality of winding areas can rotate relative to the inner rotating part after overcoming the same rotation resistance.

3. The cable winder assembly according to claim 2, wherein: The resistance shafts are arranged inside and outside the winding areas in a one-to-one correspondence, and the multiple resistance shafts are mutually transmitted and detachably connected.

4. The cable winder assembly according to claim 3, wherein The multiple axial sliders of the multiple resistance shafts are sequentially abutted end to end and synchronously move along the axial direction of the resistance shaft under the drive of the same adjustment mechanism, and the multiple radial sliders of the multiple resistance shafts are synchronously moved along the radial direction of the resistance shaft under the drive of the multiple axial sliders.

5. The cable winder assembly according to claim 4, wherein The inner side wall of the outer ring is provided with a plurality of resistance grooves, which are arranged in sequence along the axial direction of the outer ring. Each resistance groove extends along the axial direction of the outer ring, and the inner side wall of the outer ring has a smooth transition everywhere.

6. The cable winder assembly according to claim 4, wherein The axial channel is provided with a first slider baffle at the middle position along its length direction, and the head end and the tail end of the axial slider are respectively provided with a second slider baffle and a third slider baffle. When the axial slider moves along the axial channel, the first slider baffle, the second slider baffle and the third slider baffle block each other to limit the axial slider from completely disengaging from the axial channel; a first spring baffle is also provided in the axial channel, and the axial slider is also provided with a second spring baffle, and a return spring is connected between the first spring baffle and the second spring baffle, and the adjusting mechanism pushes the axial slider to move, and the axial slider is pressed against the adjusting mechanism under the action of the return force of the return spring.

7. The cable winder assembly according to claim 3, wherein: The resistance shaft is respectively provided with a serial male port and a serial female port at both ends along its axial direction. A positioning top bead is connected to the serial male port and cannot be completely detached. A positioning hole is provided on the serial female port. Among the two adjacent resistance shafts, the serial male port of one is arranged inside and outside the serial female port of the other and the two cannot achieve relative rotation. The positioning top bead of the serial male port extends into the positioning hole of the serial female port along the radial direction of the resistance shaft under the action of the elastic reset force of the positioning top bead spring.

8. The cable winder assembly according to claim 3, wherein: The resistance shaft is also connected to a guide bead that cannot be completely detached, and the inner side wall of the winding area is provided with an arc-shaped groove extending along its circumference. The guide bead extends into the arc-shaped groove along the radial direction of the resistance shaft under the action of the elastic reset force of the guide bead spring, so that the resistance shaft and the winding area can rotate relative to each other but cannot move axially relative to each other.

9. The cable winder assembly according to claim 1, wherein: The outer wall of the winding area is provided with two annular protrusions located at both ends of the axial direction and extending along the circumference thereof. The winding area is provided with a wire locking hole and a wire locking bolt. The wire locking bolt tightens the wire rope inserted into the wire locking hole against the hole wall of the wire locking hole.

10. A winding device for adjusting the tension of a drive rope, characterized in that: It comprises a frame, a winding device assembly as claimed in any one of claims 1 to 9, and a power assembly, wherein the inner rotating part is connected to the frame, and the power assembly drives the inner rotating part to rotate.

11. The winding device according to claim 10, characterized in that The frame includes a base, two supports that are specifically adjustable and connected to the base, two transmission members respectively connected to the two supports, and an adjustment mechanism connected to one of the transmission members. The two ends of the inner rotating part are respectively connected to the two transmission members.

12. The winding device according to claim 11, characterized in that The adjusting mechanism is an adjusting bolt that is rotationally connected to the transmission member.

13. The winding device according to claim 10, characterized in that The power assembly is a motor or a handwheel that can drive the transmission member to rotate.

14. A method for adjusting the tension of a drive rope, characterized in that: The steps include: S1. Provide a winding device according to any one of claims 10 to 13; S2. Connecting two ends of a calibration rope to a force calibration device and the winding area respectively and locking the inner rotating part; S3, adjusting the rotational resistance from small to large and keeping the calibration rope taut until the winding area cannot rotate and the rotational resistance reaches the set value; S4, connecting and fixing the free ends of the drive ropes to the winding areas in a one-to-one correspondence and releasing the lock on the inner rotating part; S5, the power assembly drives the inner rotating part to rotate until all the winding areas stop rotating and the tension of all the drive ropes is balanced with the rotation resistance; S6. The power assembly continues to drive the inner rotating part to rotate or locks the inner rotating part to complete all tension adjustments of the drive rope.

15. The method for adjusting the tension of a drive rope according to claim 14, characterized in that: The force calibration device is a spring balance or a tension meter. In step S3, the calibration rope is tightened by moving the force calibration device. When the rotational resistance is adjusted from a small value to a large value, the rotational resistance reaches the set value when the indication of the force calibration device reaches the set value. When the force calibration device is a weight, in step S3, the weight tightens the calibration rope under the action of its own weight, and when the rotation resistance is adjusted from small to large, when the winding area cannot rotate, the rotation resistance reaches the set value.

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