A three mobile rope traction device

Abstract

The application discloses a three-movement rope traction device, and relates to the field of rope traction mechanisms, which comprises rope driving devices and a deformable intermediate platform; the deformable intermediate platform is in a tetrahedron shape and is located at the middle position of the rope traction device; the rope driving devices are three in total and are uniformly distributed around the deformable intermediate platform; each rope driving device is connected with a corner of the deformable platform through a rope; the rope driving devices can control the extension length and tension of the ropes; and the three driving devices jointly change the position and shape of the deformable intermediate platform. When the three extension driving devices control the extension lengths of the three ropes to be different and change, the movable platform of the deformable intermediate platform can move in two directions on the driving plane; and when the rope tension applied by the rope driving devices changes, the movable platform can move in the direction perpendicular to the driving plane through the shape change of the deformable intermediate platform.

Description

Technical Field

[0001] This invention relates to the field of rope traction mechanisms, and in particular to a three-movement rope traction device. Background Technology

[0002] Rope traction mechanisms have advantages such as light weight and wide range of motion. Compared with general rigid parallel mechanisms, they can generate higher speed and acceleration, and have advantages such as large load and large working space.

[0003] Over the past fifty years, research on rope traction mechanisms has been booming, with many of them already commercialized. They have mature applications in fields such as port cargo handling, motion simulators, sports live streaming systems, cargo warehousing, and wind tunnel experimental equipment. For example, my country's 500-meter Aperture Spherical Telescope (FAST) uses a rope traction mechanism to drive the feed attitude adjustment system. Patent CN115862407A discloses a rope traction simulator that uses a rope traction device to traction a simulation chamber. Depending on the direction and magnitude of the tension between the ropes, the simulation chamber exhibits different dynamic characteristics, tilting, or turning characteristics. Patent CN114435629A discloses a rope traction robot used for space material transportation and assembly, which uses a rope traction mechanism to carry out long-distance material transportation and device assembly in space.

[0004] Unlike traditional parallel mechanisms where the number of drive devices equals the number of degrees of freedom, rope traction mechanisms, due to the flexibility of the rope itself, often require an additional drive device to achieve the required number of degrees of freedom, thus increasing cost and control difficulty. Summary of the Invention

[0005] To address the aforementioned problems, the purpose of this invention is to design a three-movement rope traction device that uses only three driving devices located on the same plane for driving, thus solving the problem that traditional rope traction devices often require four drives to obtain three degrees of freedom of movement.

[0006] The technical solution adopted in this invention is as follows:

[0007] A three-moving rope traction device includes a rope drive device 1 and a deformable intermediate platform 2; there are three rope drive devices arranged in a circular array; the deformable intermediate platform is tetrahedral in shape and is located at the center of the array of three rope traction devices.

[0008] The deformable intermediate platform includes a fixed platform 3, a fixed platform connecting rod, a tension spring, and a fixed platform. The fixed platform is mainly composed of three V-shaped components, each of which includes a sliding rod and a sliding sleeve connected at its end. The three V-shaped components are connected end to end, with the sliding rod of one V-shaped component fitted inside the sliding sleeve of another adjacent V-shaped component. The sliding rod and sliding sleeve fitted together are respectively connected to the two ends of the same tension spring. The two ends of the fixed platform connecting rod are respectively hinged to the lower surface of the fixed platform and the connection position between the sliding rod and the sliding sleeve of the same V-shaped component.

[0009] The rope drive device is connected to the same V-shaped component slide rod and slide sleeve connection position via a rope.

[0010] Furthermore, it also includes a connecting shaft A, and the lower surface of the fixed platform is provided with three fold plates, each of which is perpendicular to the fixed platform; the fold plates are mainly composed of two branches at an included angle;

[0011] The circumferential array of folded plates has each folded plate positioned at an angle directly below the center of the fixed platform; the two ends of the connecting shaft A are respectively connected to the branches of adjacent folded plates by bearings.

[0012] Furthermore, the included angle of the folded plates is 120°. Each folded plate is provided with a mounting hole corresponding to the connecting shaft A.

[0013] Furthermore: the sliding sleeve is provided with a sliding groove extending along the length direction of the sliding sleeve, and the sliding rod is provided with a limiting rod perpendicular to it. The limiting rod is located in the corresponding sliding groove and can move along the sliding groove.

[0014] Furthermore: the tension spring is located on the outside of the sliding sleeve, and both the sliding sleeve and the sliding rod are provided with a fixed rod perpendicular to it, with the two ends of the tension spring connected to the corresponding fixed rods respectively.

[0015] Furthermore: the rope traction device includes a drive frame, rope compression roller A, rope compression roller B, compression roller B shaft, roller, coil spring, roller shaft, drive motor, motor bracket, coupling, and compression roller A shaft;

[0016] The drive frame has mounting holes for the A and B shafts of the extrusion roller, and a mounting hole for the rear roller shaft. The roller shaft is fixedly mounted on the roller shaft mounting hole. The roller is mounted on the roller shaft and can rotate around it. There are spring connecting protrusions on the left and right sides of the roller. There are two springs in total, located on the left and right sides of the roller respectively. The inner end of the spring is connected to the roller shaft, and the outer end is connected to the spring connecting protrusion. The spring and the rope are wound in the same direction and always maintain a contracted force state.

[0017] The shafts of extrusion roller A and extrusion roller B are respectively mounted on the mounting holes of extrusion roller A and extrusion roller B on the drive frame, forming a rotating pair connection with the drive frame; the rope extrusion roller A and rope extrusion roller B are respectively fixedly connected to the shafts of extrusion roller A and extrusion roller B; the motor bracket is mounted on the drive frame; the drive motor is mounted on the motor bracket, and the motor shaft is connected to the shaft of extrusion roller A through a coupling.

[0018] Furthermore: there is a gap between the extrusion roller A and the extrusion roller B, the gap size being smaller than the rope diameter; the rope is wound around the roller, and the rope end passes through the gap between the extrusion roller A and the extrusion roller B and is connected to the V-shaped assembly.

[0019] Furthermore, the V-shaped component has a rope loop at its tail, and the rope of the rope drive device is connected to the rope loop.

[0020] The main innovative features of this invention are as follows:

[0021] (1) The front end of the rope drive device controls the extension and retraction of the rope through the rope compression roller, which can easily realize the position control, speed control and tension control of the rope. The rear end of the rope device uses the roller to tighten or release the rope, and provides the rope tightening force through the ruler spring, realizing the automatic and flexible tightening and release of the rope. Compared with the traditional rope traction device that uses the direct drive roller to control the rope, it has a better control effect.

[0022] (2) The deformable intermediate platform located in the middle of the device has two degrees of freedom of movement on the plane of the driving device under the traction of the three driving devices. At the same time, when the rope tension applied by the three driving devices changes, the deformable intermediate platform changes shape under force, the side length of the equilateral triangle structure at the bottom increases, the fixed platform descends, and the third degree of freedom of movement perpendicular to the plane of the driving device is realized. This solves the problem that traditional rope traction devices often require four driving devices to obtain three degrees of freedom of movement. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of a novel three-movement rope drive device.

[0025] Figure 2 This is a partial cross-sectional schematic diagram of the variable intermediate platform.

[0026] Figure 3 This is a schematic diagram of the structure of the fixed platform component.

[0027] Figure 4 This is a schematic diagram of the triangular assembly parts.

[0028] Figure 5 A schematic diagram of the drive device and

[0029] Figure 6 for Figure 5 A partial cross-sectional diagram.

[0030] Figure 7 This is a schematic diagram of the drive frame component structure.

[0031] In the diagram: 1- Rope drive device, 2- Deformable intermediate platform;

[0032] 3-Fixed platform, 4-Connecting shaft A, 5-Fixed platform connecting rod A, 6-Fixed platform connecting rod B, 7-Fixed platform connecting rod C, 8-Connecting shaft B, 9-V-type assembly A, 10-V-type assembly B, 11-V-type assembly C, 12-Tension spring, 13-Drive frame, 14-Rope, 15-Rope squeeze roller A, 16-Rope squeeze roller B, 17-Squeeze roller B shaft, 18-Roller, 19-Coil spring, 20-Roller shaft, 21-Drive motor, 22-Motor bracket, 23-Coupling, 24-Squeeze roller A shaft;

[0033] 301-Connecting hole A, 302-Connecting hole B, 303-Connecting hole C, 901-Limiting protrusion, 902-Connecting rod connecting hole, 903-Rope pull ring, 904-Tension spring connecting shaft, 905-Limiting groove, 1301-Roller shaft mounting hole, 1302-Extrusion roller A shaft mounting hole, 1303-Extrusion roller B shaft mounting hole, 1801-Rule spring connecting protrusion. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] It should be noted that in the description of this invention, the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not mean that the device or element must have a specific orientation, or be constructed and operated in a specific orientation.

[0036] like Figure 1 and Figure 2 As shown, the present invention proposes a novel three-moving rope traction device, comprising a rope driving device 1 and a deformable intermediate platform 2. The deformable intermediate platform 2 is located in the middle of the device, is tetrahedral in shape, and has an equilateral triangular structure at the bottom with variable side lengths. The increase or decrease of the bottom side length is accompanied by the rise and fall of the fixed platform 3. There are three rope driving devices 1, evenly distributed around the deformable intermediate platform 2. Each rope driving device 1 is connected to a rope loop 903 at one corner of the deformable intermediate platform 2 via a rope 14. The rope driving devices 1 can control the extension and retraction length and tension of the rope 14. The three rope driving devices 2 work together to control the extension of the three rope segments 14, which can change the position of the deformable intermediate platform 2 on the plane (driving plane) where the rope driving devices 1 are located. Controlling the tension of the three rope segments 14 can increase or decrease the bottom side length of the deformable intermediate platform 2, thereby changing the shape of the deformable intermediate platform 2 and controlling the movement of the fixed platform 3 in a direction perpendicular to the driving plane.

[0037] like Figure 2 , Figure 3 and Figure 4As shown, the deformable intermediate platform 2 includes a fixed platform 3, a connecting shaft A4, a fixed platform connecting rod A5, a fixed platform connecting rod B6, a fixed platform connecting rod C7, a connecting shaft B8, a V-shaped assembly A9, a V-shaped assembly B10, a V-shaped assembly C11, and a tension spring 12. One side of the fixed platform has connecting holes A301, B302, and C303. V-shaped assemblies A9, B10, and C11 have identical structures, forming a "V" shape. The right side is a rod structure, and the left side is a rod sleeve structure. The rod structure on the right side of V-shaped assembly A9 is inserted into the rod sleeve structure on the left side of V-shaped assembly B10, forming a sliding joint connection between V-shaped assembly A9 and V-shaped assembly B10. Similarly, the V-shaped assembly B10 and V-shaped assembly C11 are connected... Both V-shaped components C11 and A9 form a sliding joint connection, creating an equilateral triangle structure with variable side length on the bottom side of the deformable intermediate platform 2. The right-side rod structure of V-shaped components A9, B10, and C11 has a limiting protrusion 901 at its front end, and the left-side rod sleeve structure has a limiting groove 905. The limiting protrusion 901 on V-shaped component A9 is within the limiting groove 905 on V-shaped component B10, allowing movement only between the limiting grooves 905. Therefore, it limits the length of the sliding joint formed between V-shaped components A9 and B10. Similarly, the limiting protrusions 901 and limiting grooves 905 between different V-shaped components (9, 10, or 11) cooperate to form sliding joints between V-shaped components B10 and C11, and C11 and A9, respectively. The sliding joints serve to limit the length; the tails of V-shaped components A9, B10, and C11 are provided with rope loops 903, which are ring-shaped structures through which the rope 14 of the rope drive device 1 passes and is fixed, facilitating the application of tension by the rope 14; the roots of the left rod structure and right rod sleeve structure of V-shaped components A9, B10, and C11 are provided with tension spring connecting shafts 904, which have ring-shaped recesses to facilitate the connection of tension springs 12, providing multiple connection positions for the installation of tension springs 12; there are three groups of tension springs 12, with multiple springs in each group, distributed around the three sliding joints formed between V-shaped components A9, B10, and C11; the springs around the sliding joints formed between V-shaped components A9 and B10 are respectively connected at both ends. The tension spring connecting shaft 902 at the root of the right rod structure of V-shaped component A9 and the tension spring connecting shaft 902 at the root of the left rod sleeve structure of V-shaped component B10 are kept in a stretched state and always apply a contraction force to the moving joint. The installation position and function of other groups of tension springs are the same. There are 3 connecting shafts B8, which are fixedly installed in the connecting rod connecting holes 902 provided on the upper side of the tail of V-shaped components A9, B10, and C11 respectively. There are 3 connecting shafts A4, which are fixedly installed in the connecting holes A301, B302, and C303 on one side of the fixed platform 3 respectively. The lower side of the fixed platform connecting rods A5, B6, and C7 are all connected to the 3 connecting shafts B8 to form a rotating joint, so that they can rotate around V-shaped components A9, B10, and C11 respectively.The upper sides of the fixed platform connecting rods A5, B6, and C7 are all connected to the three connecting shafts A4 in a rotating pair, allowing them to rotate around the fixed platform 3. The fixed platform is mounted to the upper side of the deformable intermediate platform 2 via the fixed platform connecting rods A5, B6, and C7.

[0038] The deformable intermediate platform 2 can change shape according to the different tensions of the three ropes 14. The principle is as follows: when the tension of the ropes 14 increases, the tension spring 12 is stretched, the length of the sliding joint formed between the V-shaped components A9, B10, and C11 increases, the side length of the equilateral triangle structure at the bottom of the deformable intermediate platform 2 increases, and the height of the fixed platform 3 decreases accordingly; when the tension of the ropes 14 decreases, the length of the tension spring 12 decreases, pulling the V-shaped components A9, B10, and C11, shortening the length of the sliding joint formed between them, and the height of the intermediate platform 3 increases accordingly.

[0039] like Figure 5 and Figure 6 , Figure 7As shown, the rope drive device 1 includes a drive frame 13, a rope 14, a rope compression roller A 15, a rope compression roller B 16, a compression roller B shaft 17, a roller 18, a coil spring 19, a roller shaft 20, a drive motor 21, a motor bracket 22, a coupling 23, and a compression roller A shaft 24. The drive frame 13 provides mounting positions for other components of the rope drive device 1. Its front side has mounting holes 1302 for the compression roller A shaft and 1303 for the compression roller B shaft, and its rear side has a mounting hole 1301 for the roller shaft. The roller shaft 20 is fixedly mounted on the roller shaft mounting hole 1301. The function of roller 18 is to provide a winding position for rope 14. It is installed on roller shaft 20 and forms a rotating joint with it. When roller 18 rotates around roller shaft, it can realize the winding and releasing of rope 14. Roller 18 has a ruler spring connecting protrusion 1801 on both the left and right sides. There are two ruler springs 19, located on the left and right sides of roller 18 respectively. The inner end of the ruler spring 19 is fixedly connected to roller shaft 20, and the outer end is fixedly connected to the ruler spring connecting protrusion 1801 on one side of the roller. The winding direction of ruler spring 19 is the same as the winding direction of rope 14, and it always maintains a contracted state, applying a winding rope to roller 18. The rotational torque in the cable direction; the extrusion roller B shaft 17 is mounted on the extrusion roller B shaft mounting hole 1303 on the drive frame 13, forming a rotating pair connection with the drive frame 13; the rope extrusion roller B16 is fixedly connected to the extrusion roller B shaft 17, and can rotate around the drive frame 13 together with the extrusion roller B shaft; the extrusion roller A shaft 24 is mounted on the extrusion roller A shaft mounting hole 1302 on the drive frame 13, forming a rotating pair connection with the drive frame 13; the rope extrusion roller A15 is fixedly connected to the extrusion roller A shaft 24, and can rotate around the drive frame 13 together with the extrusion roller A shaft; motor bracket 22 Located directly above the rope extrusion roller A15, it is fixedly mounted on the drive frame 13; the drive motor 21 is fixedly mounted on the upper side of the motor bracket 22, and the shaft of the drive motor 21 is fixedly connected to the upper side of the shaft 24 of the extrusion roller A through the coupling 23, so the drive motor 21 can drive the rope extrusion roller A15 to rotate; there is a gap between the extrusion roller A15 and the extrusion roller B16, and the gap size is smaller than the diameter of the rope 14; the rear end of the rope 14 is wound on the roller 18, and the rope end extends through the gap between the extrusion roller A15 and the extrusion roller B16, and finally connects to the rope pull ring 903 of the deformable intermediate platform 2.

[0040] The rope drive device 1 can control the position, speed, and tension of the rope 14. The principle is as follows: Under the squeezing force of the squeezing rollers A15 and B16 on the rope 14, there is a large friction between the squeezing rollers A15 and B16 and the rope 14. When the drive motor 21 drives the squeezing roller A15 to rotate, the rope 14 extends and retracts accordingly. The squeezing roller B16 rotates in the opposite direction to the squeezing roller A15. Therefore, the drive motor 21 can control the position, speed, and tension of the rope 14 by changing the output speed and torque. When the rope 14 extends, the roller 18 moves in the opposite direction to the rope winding direction, the ruler spring 19 is compressed, and the elastic potential energy increases. When the rope 14 shortens, the elastic potential energy stored in the ruler spring 19 is released, driving the roller 18 to move in the same direction as the rope winding direction, thereby winding the shortened rope 14 onto the roller 18.

[0041] The principle of the novel three-moving rope traction device proposed in this invention, which has three degrees of freedom of movement in three directions, is as follows: When the extension length of the rope 14 controlled by the three rope driving devices 1 is different and varies, the fixed platform 3 of the deformable intermediate platform 2 can move in two directions on the driving plane. When the rope tension applied by the three rope driving devices 1 changes, the deformable intermediate platform 2 will deform, and the distance between the fixed platform 3 and the driving plane will change accordingly, thereby realizing the movement of the fixed platform 3 in the direction perpendicular to the driving plane.

[0042] This invention has illustrated its principles and implementation methods using specific examples. The descriptions of these embodiments are merely illustrative of the method and its core ideas; furthermore, those skilled in the art will recognize that modifications may be made to the specific implementation methods and application scope based on the principles of this invention. Therefore, the content of this specification should not be construed as limiting the invention.

Claims

1. A three-moving rope traction device, characterized in that: It includes a rope drive device (1) and a deformable intermediate platform (2); there are 3 rope drive devices, which are arranged in a circular array; the deformable intermediate platform is tetrahedral in shape and is located at the center of the array of three rope traction devices. The deformable intermediate platform includes a fixed platform (3), a fixed platform connecting rod, a tension spring, and a moving platform; the moving platform is mainly composed of 3 V-shaped components, each V-shaped component including a sliding rod and a sliding sleeve connected at the end; the 3 V-shaped components are connected end to end, and the sliding rod of one V-shaped component is sleeved in the sliding sleeve of another adjacent V-shaped component; the sliding rod and sliding sleeve connected to each other are respectively connected to the two ends of the same tension spring; the two ends of the fixed platform connecting rod are respectively hinged to the lower surface of the fixed platform and the connection position between the sliding rod and the sliding sleeve of the same V-shaped component; The rope drive device is connected to the same V-shaped component slide rod and slide sleeve connection position via a rope; The rope traction device includes a drive frame, rope compression roller A, rope compression roller B, compression roller B shaft, roller, coil spring, roller shaft, drive motor, motor bracket, coupling, and compression roller A shaft; The drive frame has mounting holes for the A and B shafts of the extrusion roller, and a mounting hole for the rear roller shaft. The roller shaft is fixedly mounted on the roller shaft mounting hole. The roller is mounted on the roller shaft and can rotate around it. There are spring connecting protrusions on the left and right sides of the roller. There are two springs in total, located on the left and right sides of the roller respectively. The inner end of the spring is connected to the roller shaft, and the outer end is connected to the spring connecting protrusion. The spring and the rope are wound in the same direction and always maintain a contracted force state. The shafts of extrusion roller A and extrusion roller B are respectively mounted on the mounting holes of extrusion roller A and extrusion roller B on the drive frame, forming a rotating pair connection with the drive frame; the rope extrusion roller A and rope extrusion roller B are respectively fixedly connected to the shafts of extrusion roller A and extrusion roller B; the motor bracket is mounted on the drive frame; the drive motor is mounted on the motor bracket, and the motor shaft is connected to the shaft of extrusion roller A through a coupling.

2. The three-moving-rope traction device according to claim 1, characterized in that: It also includes a connecting shaft A, and the lower surface of the fixed platform is provided with three fold plates, each of which is perpendicular to the fixed platform; the fold plates are mainly composed of two branches at an included angle; The circumferential array of folded plates has each folded plate positioned at an angle directly below the center of the fixed platform; the two ends of the connecting shaft A are respectively connected to the branches of adjacent folded plates via bearings.

3. A three-moving rope traction device according to claim 2, characterized in that: The included angle of the folding plate is 120°, and each folding branch is provided with a mounting hole corresponding to the connecting shaft A.

4. The three-moving rope traction device according to claim 1, characterized in that: The sliding sleeve is provided with a sliding groove extending along the length of the sliding sleeve, and the sliding rod is provided with a limiting protrusion perpendicular to it. The limiting protrusion is located in the corresponding sliding groove and can move along the sliding groove.

5. A three-moving rope traction device according to claim 1, characterized in that: The tension spring is located on the outside of the sliding sleeve. Both the sliding sleeve and the sliding rod are provided with a fixed rod perpendicular to them, and the two ends of the tension spring are respectively connected to the corresponding fixed rod.

6. A three-moving rope traction device according to claim 1, characterized in that: There is a gap between the extrusion rollers A and B, the gap size of which is smaller than the diameter of the rope; the rope is wound around the drum, and the rope end passes through the gap between the extrusion rollers A and B and is connected to the V-shaped assembly.

7. A three-moving rope traction device according to claim 1, characterized in that: The V-shaped component has a rope loop at its tail, and the rope of the rope drive device is connected to the rope loop.

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