A robot communication fiber winding and unwinding module

Abstract

The application discloses a robot communication optical fiber winding and unwinding module, which comprises an optical fiber winding and unwinding frame, an optical fiber winding and unwinding shaft, a wire arranging device and an optical fiber guiding device are arranged on the optical fiber winding and unwinding frame, the optical fiber winding and unwinding shaft is an I-shaped shaft, an optical fiber slip ring for connecting a moving end of the optical fiber on the shaft with a static end of the optical fiber of a robot is arranged in an inner portion of one end of a shaft tube, an internal winding driving device for driving the optical fiber winding and unwinding shaft to rotate when winding is arranged in an inner portion of the other end of the shaft tube, the winding driving device comprises a driving motor, a clutch and a clutch control device for controlling whether the clutch outputs power of the driving motor to the optical fiber winding and unwinding shaft. The robot communication optical fiber winding and unwinding module can be conveniently and quickly assembled on a general robot to form a robot platform with wireless and optical fiber dual-way communication capability, and the robot communication optical fiber winding and unwinding module has the advantages of compact structure, good integrity, small space occupation and the like, and leaves more space for the robot platform to install other functional modules.

Description

TECHNICAL FIELD

[0001] The application relates to a winding and unwinding device for communication optical fibers, in particular to a communication optical fiber winding and unwinding module capable of being quickly assembled on a robot. BACKGROUND

[0002] When the robot works in a complex electromagnetic environment, ordinary wireless communication will be interfered by electromagnetic waves, and the robot cannot be safely communicated with the rear control end, so a wired optical fiber needs to be used to connect the robot and the rear control end as a parallel alternative communication means of wireless communication to realize remote control of the robot and safe transmission of data, and therefore, a communication optical fiber winding and unwinding device needs to be installed on the robot. However, the optical fiber winding and unwinding device for the robot in the prior art cannot form an integral module, and when used, the winding and unwinding frame, the optical fiber winding and unwinding shaft, the shaft driving motor and the wire arranging device need to be separately and independently installed on the robot platform, and the structure is loose, the space occupied is large, the installation process is complex, and after installation, debugging is needed before the device can be put into work. In addition, mainstream robots are based on a general robot platform, and users selectively assemble different functional modules according to the use requirements to realize multifunctional and personalized configuration of the robot. The foregoing robot communication optical fiber winding and unwinding device arranged in a scattered manner is difficult to be quickly assembled with the general robot to form a robot platform with wireless and optical fiber dual-channel communication capability. SUMMARY

[0003] The technical problem to be solved by the application is to provide a robot communication optical fiber winding and unwinding module which can be conveniently and quickly assembled on a general robot to form a robot platform with wireless and optical fiber dual-channel communication capability, and the robot communication optical fiber winding and unwinding module has the advantages of compact structure, good integrity and small space occupation, and leaves more space for the robot platform to install other functional modules.

[0004] The technical scheme adopted to solve the technical problem is that a robot communication optical fiber winding and unwinding module comprises a fiber winding and unwinding frame fixedly installed on a robot, an optical fiber winding and unwinding shaft which can rotate forward and backward on the fiber winding and unwinding frame, a wire arranging device and an optical fiber guiding device which are installed on the fiber winding and unwinding frame above the optical fiber winding and unwinding shaft, the optical fiber winding and unwinding shaft is a I-shaped shaft formed by a shaft tube and annular end pieces fixed at both ends of the shaft tube, an optical fiber slip ring which connects a dynamic end of the optical fiber on the shaft to a static end of the optical fiber on the robot is arranged in the inside of one end of the shaft tube, and an internal winding driving device which drives the optical fiber winding and unwinding shaft to rotate when winding is arranged in the inside of the other end of the shaft tube, the winding driving device comprises a driving motor, a clutch and a clutch control device which controls whether the driving motor outputs power to the optical fiber winding and unwinding shaft.

[0005] As a further improvement of the present invention: a hollow fixed short shaft is mounted on the optical fiber take-up and take-down rack on one side of the take-up drive device, an axial slide rail protruding from the end face of the fixed short shaft is provided on the inner end of the fixed short shaft, a slider that can move along the slide rail is provided on the slide rail, a dial plate that is perpendicular to the slide rail is provided on the slider, and the drive motor is fixed on the slider.

[0006] The clutch is a jaw clutch. An active half clutch is installed at the output shaft end of the drive motor. A shaft plate that rotates synchronously with the shaft tube is fixed in the middle of the shaft tube. A driven half clutch that cooperates with the active half clutch is fixed at the center of the shaft plate.

[0007] The clutch control device includes an electric push rod arranged parallel to the slide rail. The tail end of the electric push rod sleeve is fixed on the optical fiber take-up and take-off frame. A limit nut and a limit stop are provided at the front end of the push rod. A clutch access spring that pushes the lever towards the limit stop at the front end of the push rod is also fitted on the push rod.

[0008] As a further improvement of the present invention: a push rod slider that can slide on the push rod is fitted on the push rod between the limiting stop and the spring, and a spring passage notch is opened on the dial plate. The push rod slider is connected to the dial plate at the spring passage notch by screws.

[0009] As a further improvement of the present invention: the push rod slider is an arc-shaped push rod slider, the two ends of the arc-shaped push rod slider are fixed on the dial plate, and the middle part of the arc-shaped push rod slider bends and protrudes towards the limiting baffle.

[0010] As a further improvement of the present invention: the drive motor is a planetary gear motor.

[0011] As a further improvement of the present invention: the cable guide is a lead screw cable guide, with a cable guide pulley at the end of the lead screw, and an active pulley that rotates synchronously with the optical fiber take-up and lay-out shaft at the end of the optical fiber take-up and lay-out shaft near the optical fiber slip ring, and a cable guide belt is provided between the cable guide pulley and the active pulley.

[0012] As a further improvement of the present invention: the optical fiber guiding device includes a horizontal guiding component, a reversing wheel and a vertical guiding component. The horizontal guiding component includes a horizontal guiding frame, on which a U-shaped guide roller group consisting of two vertical guide rollers and one horizontal guide roller is provided. The vertical guiding component includes a vertical guiding frame, on which a "well"-shaped guide roller group consisting of two transverse horizontal guide rollers and two longitudinal horizontal guide rollers is provided.

[0013] As a further improvement of the present invention: the horizontal guide frame is mounted on the commutator wheel frame by a horizontal spring plate.

[0014] Beneficial Effects: The robot communication fiber optic take-up and delivery module of the present invention, by employing the technical features of including a fiber optic take-up and delivery frame fixedly mounted on the robot, with a fiber optic take-up and delivery spool, a cable guide, and a fiber optic guide device on the fiber optic take-up and delivery spool, and a fiber optic slip ring and take-up drive device inside the spool tube to connect the moving end of the fiber optic cable on the spool to the stationary end of the robot's fiber optic cable, allows the robot communication fiber optic take-up and delivery module of the present invention to be quickly assembled onto the robot to form a robot platform with wireless and fiber optic dual-channel communication capabilities. This robot communication fiber optic take-up and delivery module has advantages such as compact structure, good integrity, and small footprint, leaving more space for installing other functional modules on the robot platform. When the robot is working in an environment without electromagnetic interference, the robot communication fiber optic take-up and delivery module can be quickly removed, making the robot a general-purpose robot platform, and then other functional modules can be installed as needed. By employing a hollow fixed short shaft mounted on the fiber optic take-up and delivery frame, an axial slide rail mounted on the fixed short shaft, a slider mounted on the slide rail, and a lever and drive motor mounted on the slider, the robot communication fiber optic take-up and delivery module of this invention can hide the drive device inside the shaft tube of the fiber optic take-up and delivery spool by controlling the engagement or disengagement of the clutch through an electric push rod. This overcomes the disadvantages of the prior art, which places the drive device on the outside of the fiber optic take-up and delivery frame, occupying robot platform space and hindering the assembly of other functional modules. Furthermore, since the drive mechanism is located inside the shaft tube, it is less susceptible to impact and damage from external forces during operation, resulting in higher reliability of the robot's fiber optic take-up and delivery operations. In addition, the invention adopts a technical feature of mounting a clutch engagement spring on the push rod to push the lever towards the front end of the push rod. The spring elasticity generates thrust to softly engage the clutch, overcoming the fatal defect that direct hard engagement of the clutch by the electric push rod can cause the jaw clutch to grind or fail to engage. Thus, the engagement or disengagement of the clutch can be conveniently controlled using a simple and easy-to-control linear actuator such as an electric push rod. The use of a sliding push rod slider mounted on a push rod between the limit stop and the spring, along with a spring passage notch on the dial plate and screws connecting the push rod slider to the dial plate at the spring passage notch, and the bow-shaped push rod slider with both ends fixed to the dial plate and the middle part bent and protruding towards the limit stop, ensures sufficient travel for the spring within a limited space. This results in better cushioning of the clutch engagement process and smoother clutch engagement. Furthermore, the adoption of a planetary gear motor as the drive motor integrates the reducer and motor into a single unit, leading to a more compact structure and greater torque provided by the drive device. This allows for the use of a low-power motor to meet the fiber optic cable reception requirements of robot communication.Because the cable guide is a lead screw cable guide, driven by the fiber take-up and undo shaft, the synchronization between the cable guide and the fiber take-up and undo shaft is better. Even instantaneous changes in fiber take-up resistance will not cause the cable guide to go out of control. The fiber is wound evenly and neatly on the shaft tube. The fiber guiding device includes a horizontal guiding assembly, a reversing wheel, and a vertical guiding assembly. The horizontal guiding assembly includes a horizontal guiding frame with a U-shaped guide roller group consisting of two vertical guide rollers and one horizontal guide roller. The vertical guiding assembly includes a vertical guiding frame with a grid-shaped guide roller group consisting of two transverse horizontal guide rollers and two longitudinal horizontal guide rollers. These features effectively prevent large-curvature fiber from entering the cable guide and breaking, and significantly reduce wear on the fiber sheath during take-up and undo, extending the fiber's lifespan. Because of the technical feature of the horizontal guide frame being mounted on the reversing wheel frame via a horizontal spring plate, it can buffer and compensate for the instantaneous increase in optical fiber take-up resistance, preventing the optical fiber from being pulled apart due to the instantaneous increase in optical fiber take-up resistance. This further improves the safety and reliability of take-up operations, enabling the robot communication optical fiber take-up and take-up module of the present invention to meet the requirements of robots operating in complex electromagnetic environments, without navigation, and on undulating road conditions. Attached Figure Description

[0015] The robot communication fiber optic take-up and take-off module of the present invention will be further described in detail below with reference to the accompanying drawings.

[0016] Figure 1 This is an overall structural diagram of the robot communication fiber optic take-up and release module of the present invention;

[0017] Figure 2 This is an axial cross-sectional view of the shaft tube portion in the robot communication fiber optic take-up and delivery module of the present invention;

[0018] Figure 3 This is an enlarged view of the take-up drive device in the robot communication fiber optic take-up and take-up module of the present invention;

[0019] Figure 4 This is an enlarged view of the U-shaped guide roller assembly in the robot communication fiber optic take-up and delivery module of the present invention;

[0020] Figure 5 This is an enlarged view of the "well"-shaped guide roller group in the robot communication fiber optic take-up and delivery module of the present invention;

[0021] Figure 6 This is an enlarged view of the fixed short axis in the robot communication fiber optic take-up and delivery module of the present invention;

[0022] Figure 7 This is an enlarged view of the push rod slider in the robot communication fiber optic take-up and release module of the present invention. Detailed Implementation

[0023] like Figure 1 As shown, the robot communication fiber optic take-up and delivery module of the present invention includes a fiber optic take-up and delivery frame 4 fixedly installed on the robot, a fiber optic take-up and delivery spool 3 that can rotate forward and backward on the fiber optic take-up and delivery frame, and a cable guide 2 and a fiber optic guiding device 1 that guides the ground fiber into the cable guide 2 are also installed on the fiber optic take-up and delivery frame above the fiber optic take-up and delivery spool.

[0024] The optical fiber take-up and take-off spool is an I-beam spool consisting of a spool tube 15 and annular end pieces 14 fixed at both ends of the spool tube.

[0025] The fiber optic take-up and delivery rack includes a horizontal base plate 16, on which two parallel vertical plates 17 are fixed. The two ends of the fiber optic take-up and delivery spool are respectively mounted on the two vertical plates, and the vertical plates have openings at the corresponding spool tubes.

[0026] The cable guide is a lead screw cable guide. A cable guide pulley 8 is provided at the end of the lead screw 13. An active pulley 18 that rotates synchronously with the optical fiber take-up and lay-out shaft is installed at the end of the optical fiber take-up and lay-out shaft near the optical fiber slip ring. The active pulley is fitted onto the end of the stator 33 of the optical fiber slip ring. A cable guide belt 9 is provided between the cable guide pulley and the active pulley.

[0027] The fiber optic guiding device includes a horizontal guiding component 5, a commutator wheel 7, and a vertical guiding component 11. The horizontal guiding component includes a horizontal guiding frame 6, and the vertical guiding component includes a vertical guiding frame 12. The horizontal guiding frame is mounted on the commutator wheel frame via a horizontal spring plate 10. Using a horizontal spring plate as a buffer for fiber optic tension leverages the characteristic that a spring plate only bends and deforms vertically, unlike a helical spring which bends and deforms in any direction, effectively preventing robot instability during buffering.

[0028] like Figure 2 As shown, an optical fiber slip ring 23 is provided inside one end of the shaft tube to connect the moving end of the optical fiber on the spool with the stationary end of the robot's optical fiber. An internal take-up drive device is provided inside the other end of the shaft tube to drive the take-up and release spool to rotate during take-up. The take-up drive device includes a drive motor 27, a clutch, and a clutch control device that controls whether the clutch outputs power from the drive motor to the optical fiber take-up and release spool.

[0029] like Figure 3As shown, a hollow fixed short shaft 29 is mounted on the fiber optic take-up and take-up frame on one side of the take-up drive device. A fixing screw hole 34 is provided on the outer annular end face of the fixed short shaft. The outer end of the fixed short shaft is fixed to the edge of the opening in the upright plate of the fiber optic take-up and take-up frame by screws. One end of the shaft tube is fitted onto the fixed short shaft through a sliding bearing 30. An axial slide rail 32, protruding from the end face of the fixed short shaft and extending axially, is provided on the inner end of the fixed short shaft. A slider 31, movable along the slide rail, is provided on the slide rail. A dial 24, perpendicular to the slide rail, is provided on the slider. The drive motor, a planetary gear motor, is fixed on the slider. The clutch is a jaw clutch. An active half clutch 20 is installed at the output shaft end of the drive motor. A shaft plate 22 that rotates synchronously with the shaft tube is fixed in the middle of the shaft tube. The outer circumference of the shaft plate is fixed to the inner wall of the shaft tube by screws. A driven half clutch 21 that cooperates with the active half clutch is fixed at the center of the shaft plate. The clutch control device includes an electric push rod 28 arranged parallel to the slide rail. The tail end of the electric push rod sleeve is fixed on the optical fiber take-up and take-off frame. A limit nut and a limit stop plate 19 are provided at the front end of the push rod 28. A clutch connection spring 25 that pushes the lever plate towards the limit stop plate at the front end of the push rod is also fitted on the push rod. Figure 6 An enlarged 3D view with the minor axis fixed.

[0030] Preferably, a push rod slider 40, which can slide on the push rod, is fitted onto the push rod between the limiting stop and the spring. A spring passage notch 35 is provided on the dial plate, and the push rod slider is connected to the dial plate at the spring passage notch by a screw. Figure 7 As shown, the push rod slider is an arc-shaped push rod slider. The two ends of the arc-shaped push rod slider are fixed to the dial plate. The middle part of the arc-shaped push rod slider bends and protrudes towards the limiting baffle and has a push rod sliding hole 41. The spring pushes the dial plate and the drive motor towards the front end of the push rod through the arc-shaped push rod slider. Compared with the spring acting directly on the dial plate, the spring stroke can be increased in a limited space.

[0031] like Figure 4 As shown, a U-shaped guide roller group consisting of two vertical guide rollers 36 and one horizontal guide roller 37 is provided on the horizontal guide frame.

[0032] like Figure 5 As shown, a grid-shaped guide roller group consisting of two transverse horizontal guide rollers 38 and two longitudinal horizontal guide rollers 39 is provided on the vertical guide frame.

[0033] The robot communication fiber optic take-up and lay-out module of this invention is fixed to the robot via a fiber optic take-up and lay-out frame. During lay-up, the optical fiber wound on the fiber optic take-up and lay-out spool passes through a cable guide, through a grid-shaped guide roller group, around a reversing reel, and through a U-shaped guide roller group to be laid on the ground. As the robot moves forward, it pulls the optical fiber, causing the fiber optic take-up and lay-out spool to rotate. During take-up, the electric push rod extends, and the clutch engages with the spring to push the push rod slider to move towards the front end of the push rod. The push rod slider drives the dial plate, drive motor, and active half-clutch forward, and engages the active half-clutch with the passive half-clutch. The drive motor drives the fiber optic take-up and lay-out axial rotation in the opposite direction to that during lay-up. The light from the ground passes through the U-shaped guide roller group, the reversing reel, the grid-shaped guide roller group, and the cable guide, and finally winds onto the fiber optic take-up and lay-out spool.

Claims

1. A robot communication fiber optic take-up and delivery module, comprising a fiber optic take-up and delivery frame fixedly mounted on a robot, a fiber optic take-up and delivery spool that rotates in both directions on the fiber optic take-up and delivery frame, and a cable guide and a fiber optic guide device mounted on the fiber optic take-up and delivery spool above the fiber optic take-up and delivery spool, characterized in that: The fiber optic take-up and release spool is an I-beam spool consisting of a spool tube and annular end plates fixed at both ends of the spool tube. Inside one end of the spool tube is a fiber optic slip ring that connects the moving end of the fiber optic cable on the spool to the stationary end of the robot fiber optic cable. Inside the other end of the spool tube is a built-in take-up drive device that drives the take-up and release spool to rotate during take-up. The take-up drive device includes a drive motor, a clutch, and a clutch control device that controls whether the drive motor outputs power to the fiber optic take-up and release spool. A hollow fixed short shaft is mounted on the fiber optic take-up and release frame on one side of the take-up drive device. An axial slide rail protruding from the end face of the fixed short shaft is provided on the inner end of the fixed short shaft. A slider that moves along the slide rail is provided on the slide rail, and a lever perpendicular to the slide rail is provided on the slider. The drive motor is fixed on the slider. The clutch is a jaw clutch, and a [missing information - likely a device related to the drive motor's output shaft]. The active half-clutch has a shaft plate fixed in the middle of the shaft tube, which rotates synchronously with the shaft tube. A driven half-clutch that cooperates with the active half-clutch is fixed at the center of the shaft plate. The clutch control device includes an electric push rod arranged parallel to the slide rail. The tail end of the electric push rod sleeve is fixed on the optical fiber take-up and take-off frame. A limit nut and a limit stop are provided at the front end of the push rod. A clutch access spring that pushes the shift plate towards the limit stop at the front end of the push rod is also fitted on the push rod. A push rod slider that slides on the push rod is fitted on the push rod between the limit stop and the clutch access spring. A spring passage notch is opened on the shift plate. The push rod slider is connected to the shift plate at the spring passage notch by screws. The push rod slider is an arc-shaped push rod slider. The two ends of the arc-shaped push rod slider are fixed on the shift plate. The middle part of the arc-shaped push rod slider bends and protrudes towards the limit stop and has a push rod sliding hole.

2. The robot communication fiber optic take-up and take-off module according to claim 1, characterized in that: The drive motor is a planetary gear motor.

3. The robot communication fiber optic take-up and take-off module according to claim 2, characterized in that: The cable guide is a lead screw cable guide, with a cable guide pulley at the end of the lead screw, and an active pulley that rotates synchronously with the optical fiber take-up and lay-out shaft at the end of the optical fiber take-up and lay-out shaft near the optical fiber slip ring. A cable guide belt is provided between the cable guide pulley and the active pulley.

4. The robot communication fiber optic take-up and take-off module according to claim 2, characterized in that: The fiber optic guiding device includes a horizontal guiding component, a reversing wheel, and a vertical guiding component. The horizontal guiding component includes a horizontal guiding frame, on which a U-shaped guide roller group consisting of two vertical guide rollers and one horizontal guide roller is provided. The vertical guiding component includes a vertical guiding frame, on which a "well"-shaped guide roller group consisting of two transverse horizontal guide rollers and two longitudinal horizontal guide rollers is provided.

5. The robot communication fiber optic take-up and take-off module according to claim 4, characterized in that: The horizontal guide frame is mounted on the reversing wheel frame via a horizontal spring plate.

Images