Driving device for heavy-load parallel rope

Abstract

According to the driving device for the heavy-load parallel rope, a servo driver drives a driving gear of a transmission switching module to move, and then two driven gears are driven to move; the two driven gears are respectively mounted on the two winch cable outlet modules to drive the two winch cable outlet modules to move synchronously, so that the two parallel driving ropes are driven to move; a roller shaft of the winch cable outlet module is connected with a roller shaft of the counterweight winch module so as to drive the counterweight winch module, a counterweight traction rope and a counterweight to move; when the two parallel driving ropes need to be adjusted to move relatively, the transmission switching module switches a transmission mode, so that the servo driving movement is only transmitted to one set of winding rope outlet module and the driving rope, and the independent movement of one of the two parallel driving ropes is realized; according to the driving device, the two parallel driving ropes can be driven through single servo drive, adjustment of the relative length of the two parallel driving ropes can be achieved, and meanwhile the torque and power needed under heavy load are reduced through the balance weight.

Description

Technical Field

[0001] The invention belongs to the technical field of robot driving, and in particular relates to a driving device for heavy-load parallel ropes. Background Art

[0002] Cable-driven robots use lightweight cables to drive terminals, which have significant low cost, large workspace, and high load characteristics, and are suitable for industrial scenarios such as palletizing. Existing cable-driven robots use parallel cable drives to achieve the translational freedom of the terminal, avoiding drive redundancy.

[0003] However, for high-load scenarios, the required motor torque and power increase significantly; at the same time, the traditional parallel rope drive uses a single drum to drive two ropes, which makes it difficult to ensure the length of the parallel ropes during the robot installation process. Summary of the invention

[0004] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a driving device for heavy-load parallel ropes, which can use a single servo drive to drive two parallel driving ropes, and can use a transmission switching module to achieve the adjustment of the relative lengths of the two parallel driving ropes; at the same time, by using a reasonably designed counterweight and counterweight winch drum, the driving force and power required for the servo drive can be significantly reduced.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A driving device for heavy-loaded parallel ropes, comprising a servo drive, a transmission switching module, a winch-out module, a driving rope, a counterweight winch module, a counterweight traction rope and a counterweight; the servo drive is installed to drive the driving gear of the transmission switching module to move, thereby driving the two driven gears of the transmission switching module to move; the two driven gears of the transmission switching module are respectively installed on the two winch-out modules, driving the two winch-out modules to move synchronously, thereby driving the two parallel driving ropes to move; one end of the counterweight traction rope is wound around the counterweight winch module, and the other end is hung with a counterweight, and the drum shaft of the winch-out module is connected to the drum shaft of the counterweight winch module, thereby driving the counterweight winch module, the counterweight traction rope and the counterweight to move; when it is necessary to adjust the relative movement of the two parallel driving ropes, the transmission switching module switches the transmission mode, so that the movement of the servo drive is only transmitted to a set of winch-out modules and the driving rope, thereby realizing the independent movement of one of the two parallel driving ropes.

[0007] Preferably, the transmission switching module consists of a spline shaft, a driving gear, a linear motor, a brake block and two driven gears. One end of the spline shaft is connected to the servo drive shaft, and the servo drive drives the spline shaft and then drives the driving gear to rotate. The two driven gears are respectively installed on the two winch cable output modules. The end of the linear motor shaft is connected to the driving gear, and the driving gear can be controlled to slide on the spline shaft. The brake block is installed on the linear motor and moves with the linear motor.

[0008] Preferably, the thickness of the two driven gears is less than or equal to half of the driving gear, and their installation positions should be staggered along the axial direction. When the servo drive drives two driving ropes at the same time, the driving gear is located in the middle position, and the driving gear is engaged with the two driven gears at the same time. When the servo drive drives one driving rope alone, the linear motor drives the driving gear to move along the spline shaft so that it is engaged with only one driven gear, and the other driven gear is stuck by the brake block.

[0009] Preferably, the winch cable output module consists of a winch cable output mounting seat, a winch cable output drum, a synchronous transmission mechanism, a rope force sensor, a rope guide mechanism and a rope output pulley. The winch cable output drum is wound around the driving rope, and the rope guide mechanism is driven to move through the synchronous transmission mechanism to ensure that the direction of the driving rope is always parallel to the tangent direction of the drum. After the driving rope changes direction through the rope guide mechanism, it is led out by the rope output pulley. The rope force sensor is installed at the bottom of the rope guide mechanism to measure the rope force of the driving rope.

[0010] Preferably, the two winch rope modules are symmetrically distributed on both sides of the driving module, and their rollers have the same size and rotation direction. When the motor drives two parallel driving ropes to move at the same time, the two driving ropes have the same retraction and extension amount, and the two driving ropes always maintain the same length.

[0011] Preferably, the counterweight winch module consists of a counterweight winch drum and a counterweight winch mounting seat. The counterweight winch drum is installed on the counterweight winch mounting seat, and one section of its axis is connected to the drum axis of the winch cable output module. The counterweight winch drum moves synchronously with the drum of the winch cable output module to retract and release the counterweight traction rope, thereby driving the counterweight to move.

[0012] Preferably, the counterweight applies force to the counterweight hoisting drum through the counterweight traction rope, which offsets the force applied by the drive rope to the drum of the hoisting cable output module to a certain extent, thereby reducing the torque and power required for the servo drive.

[0013] Preferably, the diameters of the hoisting drum and the counterweight hoisting drum are proportional. If the ratio of the diameter of the hoisting drum to the diameter of the counterweight hoisting drum is k, the counterweight drops by 1 meter for every k meters the driving rope contracts. The ratio k is determined to be as small as possible based on the movable height of the counterweight at the installation position of the driving device.

[0014] Preferably, if the average rope force on the driving rope is F kilograms-force, the mass of the counterweight should be F*k kilograms.

[0015] Preferably, it further includes a base plate 5 , and the servo drive 2 , the transmission switching module 3 , the winch cable output module 1 , the drive rope 6 , and the counterweight winch module 4 are all installed on the base plate 5 .

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] The driving device for heavy-load parallel ropes described in the present invention can use a single servo drive to drive two parallel driving ropes, and can use a transmission switching module to adjust the relative lengths of the two parallel driving ropes, so that the equipment using the driving device can adjust the initial rope length through a motor during installation to ensure that the lengths of the parallel ropes are the same, forming an effective parallelogram constraint and avoiding the operational difficulty and error of manual adjustment.

[0018] The driving device for heavy-load parallel ropes of the present invention can significantly reduce the driving force and power required for servo drive by utilizing a reasonably designed counterweight and a counterweight hoisting drum. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of a driving device for heavy-load parallel ropes of the present invention.

[0020] Figure 2 It is a detailed schematic diagram of the arrangement of a driving device for heavy-load parallel ropes according to the present invention. DETAILED DESCRIPTION

[0021] The following is a detailed description of the implementation mode of the present invention in conjunction with the accompanying drawings and examples. The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings and specific examples. It should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "horizontal", "vertical" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0022] like Figure 1The embodiment of a driving device for heavy-loaded parallel ropes is shown. A driving device for heavy-loaded parallel ropes comprises a base plate 5, a servo drive 2, a transmission switching module 3, a hoisting cable module 1, a driving rope 6, a counterweight hoisting module 4, a counterweight traction rope 7 and a counterweight 8; the servo drive 2, the transmission switching module 3, the hoisting cable module 1, the driving rope 6 and the counterweight hoisting module 4 are all mounted on the base plate 5, the servo drive 2 drives the driving gear 303 of the transmission switching module 3 to move, thereby driving the two driven gears 305 of the transmission switching module 3 to move; the two driven gears 303 of the transmission switching module 3 are respectively mounted on the two hoisting cable modules 1, driving the two driven gears 305 of the transmission switching module 3 to move. The rope-out hoisting modules 1 move synchronously, thereby driving the movement of two parallel drive ropes 6; one end of the counterweight traction rope 7 is wound around the counterweight hoisting module 4, and the other end is hung with a counterweight 8. The drum shaft of the rope-out hoisting module 1 is connected to the drum shaft of the counterweight hoisting module 4, thereby driving the movement of the counterweight hoisting module 4, the counterweight traction rope 7 and the counterweight 8; when it is necessary to adjust the relative movement of the two parallel drive ropes 6, the transmission switching module 3 switches the transmission mode, so that the movement of the servo drive 2 is only transmitted to one set of rope-out hoisting modules 1 and the drive rope 6, thereby realizing the independent movement of one of the two parallel drive ropes 6.

[0023] like Figure 2 The detailed layout diagram of a driving device for heavy-duty parallel ropes is shown. The transmission switching module 3 is composed of a spline shaft 301, a driving gear 303, a linear motor 304, a brake block 302 and two driven gears 305. One end of the spline shaft 301 is connected to the servo drive 2 shaft, and the servo drive 2 drives the spline shaft 301 and then drives the driving gear 303 to rotate. The two driven gears 305 are respectively installed on the two winch cable modules 1. The linear motor 304 is installed on the bottom plate 5. The end of the shaft is connected to the driving gear 303, which can control the driving gear 303 to slide on the spline shaft 301. The brake block 302 is installed on the linear motor 304 and moves with the linear motor 304. The thickness of each driven gear 305 is less than half of the driving gear 303, and their installation positions are staggered along the axial direction. When the servo drive 2 drives two driving ropes 6 at the same time, the driving gear 303 is located in the middle position, and the driving gear 303 is engaged with the two driven gears 305 at the same time. When the servo drive 2 drives one driving rope 6 alone, the linear motor 304 drives the driving gear 303 to move along the spline shaft 301, so that it is engaged with only one driven gear 305, and the other driven gear 305 is stuck by the brake block 302.

[0024] like Figure 2As shown, the winch cable output module 1 is composed of a winch cable output mounting seat 101, a winch cable output drum 103, a synchronous transmission mechanism 102, a cable force sensor 104, a rope guiding mechanism 105 and a cable output pulley 106. The winch cable output drum 103 is wound around the driving rope 6, and drives the rope guiding mechanism 105 to move through the synchronous transmission mechanism 102, so as to ensure that the direction of the driving rope 6 is always tangentially parallel to the winch cable output drum 103. After the driving rope 6 changes direction through the rope guiding mechanism 105, it is led out by the cable output pulley 106. The rope force sensor 104 is installed at the bottom of the rope guiding mechanism 105, and is used to measure the rope force of the driving rope 6.

[0025] The working process of the driving device for heavy-loaded parallel ropes of the present invention is: using the equipment of the driving device, determining the required weight of the counterweight 8 according to the average value of the driving rope 6 force required by the equipment, and determining the torque of the servo drive 2 according to the half-peak value of the driving rope 6 force required by the equipment; when using the driving device, first install the driving device (except the counterweight 8) on the equipment, connect the driving rope 6 to the end to be driven, and then control the transmission switching module 3 to control one of the driving ropes 6 separately, and drive the length of the driving rope 6 to be retracted and released to the theoretical value through the servo drive 2, and then repeat the process to adjust the other driving rope 6, so as to achieve the adjustment of the relative length of the two parallel driving ropes 6, and then switch to controlling the two driving ropes 6 at the same time, and suspend the counterweight 8 to start normal working operation.

[0026] It is worth noting that although the technical solution and preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned implementation methods are merely illustrative. Relevant technical personnel in the field can be inspired by the present invention and make many forms without departing from the purpose of the present invention and the scope of protection of the claims. These all belong to the scope of protection of the present invention.

Claims

1. A driving device for heavy-duty parallel ropes, characterized in that: The invention comprises a servo drive (2), a transmission switching module (3), a winch cable module (1), a driving rope (6), a counterweight winch module (4), a counterweight traction rope (7) and a counterweight (8); the servo drive (2) drives the driving gear of the transmission switching module (3) to move, thereby driving two driven gears of the transmission switching module (3) to move; the two driven gears of the transmission switching module (3) are respectively mounted on two winch cable modules (1), driving the two winch cable modules (1) to move synchronously, thereby driving two parallel driving ropes (6) to move; the counterweight traction rope One end of the rope (7) is wound around the counterweight winch module (4), and the other end is hung with a counterweight (8); the drum shaft of the winch-out module (1) is connected to the drum shaft of the counterweight winch module (4), thereby driving the counterweight winch module (4), the counterweight traction rope (7) and the counterweight (8) to move; when it is necessary to adjust the relative movement of the two parallel drive ropes (6), the transmission switching module (3) switches the transmission mode, so that the movement of the servo drive is only transmitted to one set of winch-out module (1) and the drive rope (6), thereby realizing the independent movement of one of the two parallel drive ropes (6).

2. The driving device according to claim 1, characterized in that: The transmission switching module (3) is composed of a spline shaft (301), a driving gear (303), a linear motor (304), a brake block (302) and two driven gears (305). One end of the spline shaft (301) is connected to the shaft of a servo drive (2). The servo drive (2) drives the spline shaft (301) and then drives the driving gear (303) to rotate. The two driven gears (305) are respectively installed on two winch cable output modules (1). The end of the linear motor (304) shaft is connected to the driving gear (303) to control the driving gear (303) to slide on the spline shaft (301). The brake block (302) is installed on the linear motor (304) and moves with the linear motor (304).

3. The driving device according to claim 2, characterized in that: The thickness of the two driven gears (305) is less than or equal to half of that of the driving gear. The installation positions of the two driven gears (305) are staggered along the axial direction. When the servo drive (2) drives two driving ropes (6) at the same time, the driving gear (303) is located in the middle position, and the driving gear (303) is meshed with the two driven gears (305) at the same time. When the servo drive (2) drives one driving rope (6) alone, the linear motor (304) drives the driving gear (303) to move along the spline shaft (301), so that it is meshed with only one driven gear, and the other driven gear is clamped by the brake block (302).

4. The driving device according to claim 1, characterized in that: The cable-out module (1) is composed of a cable-out mounting seat (101), a cable-out drum (103), a synchronous transmission mechanism (102), a cable force sensor (104), a rope guide mechanism (105) and a cable-out pulley (106). The cable-out drum (103) is wound around a driving rope and drives the rope guide mechanism (105) to move through the synchronous transmission mechanism (102) to ensure that the direction of the driving rope (6) is always tangentially parallel to the drum (103). After the driving rope (6) changes direction through the rope guide mechanism (105), it is led out by the cable-out pulley (106). The rope force sensor (104) is installed at the bottom of the rope guide mechanism (105) and is used to measure the rope force of the driving rope (6).

5. The driving device according to claim 1, characterized in that: The two winch cable modules (1) are symmetrically distributed on both sides of the servo drive module (2), and the drums thereof have the same size and the same rotation direction. When two parallel drive ropes (6) are driven to move simultaneously, the retraction and extension amounts of the two drive ropes (6) are the same, and the two drive ropes (6) always maintain the same length.

6. The driving device according to claim 1, characterized in that: The counterweight winch module (4) is composed of a counterweight winch drum and a counterweight winch mounting seat. The counterweight winch drum is mounted on the counterweight winch mounting seat, and one section of the shaft is connected to the drum shaft of the winch cable output module (1). The counterweight winch drum moves synchronously with the drum of the winch cable output module to retract and release the counterweight traction rope (7), thereby driving the counterweight (8) to move.

7. The driving device according to claim 6, characterized in that: The counterweight (8) applies force to the counterweight hoisting drum through the counterweight traction rope (7), which offsets the force applied by the drive rope (6) to the drum of the hoisting cable output module to a certain extent, thereby reducing the torque and power required for the servo drive.

8. The driving device according to claim 6, characterized in that: The diameters of the drum of the hoisting cable module and the counterweight hoisting drum are proportional. If the ratio of the drum diameter of the hoisting cable module to the counterweight hoisting drum diameter is k, the counterweight (8) drops 1 meter for every k meters the driving rope (6) contracts. The ratio k is determined to be as small as possible based on the height to which the counterweight can move at the installation position of the driving device.

9. The driving device according to claim 8, characterized in that: If the average rope force on the driving rope (6) is F kilogram force, the mass of the counterweight is F*k kilograms.

10. The driving device according to claim 1, characterized in that: It also comprises a base plate (5), on which the servo drive (2), the transmission switching module (3), the winch cable output module (1), the drive rope (6), and the counterweight winch module (4) are all mounted.

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