Cable production stranding device for humanoid robots

Abstract

The application provides a cable production twisting device for humanoid robots, and relates to the technical field of cable production, which comprises a hollow shaft, a parallel line die and a winding roller arranged on a bottom plate, and a winch with a plurality of threading holes is fixed to one end of the outer side of the hollow shaft, and the device further comprises a tension detection device for detecting the tension balance degree of a plurality of twisted layer conductors and a driving mechanism for driving the hollow shaft to rotate. The tension detection device can detect the tension of the plurality of twisted layer conductors, and if the tension of any twisted layer conductor is detected to decrease, the circuit can be connected to light the warning lamp at the corresponding position, so that the workers can timely find and adjust the tension of the twisted layer conductor, thus realizing the function of real-time monitoring of the tension of the plurality of twisted layer conductors, ensuring that the cables are more uniformly twisted together, improving the twisting quality of the cables, making the overall structure of the cables more stable, and improving the mechanical properties of the cables.

Description

Technical Field

[0001] This invention relates to the field of cable manufacturing technology, and in particular to a cable stranding device for humanoid robots. Background Technology

[0002] Humanoid robots need to possess greater flexibility, dynamic stability, and adaptability to various scenarios, and their joints need to frequently perform complex movements such as bending, twisting, and extending. As the core carrier for signal transmission and energy transfer within the robot, cables must maintain stable electrical, mechanical, and environmental performance under high-frequency mechanical deformation over long periods of time.

[0003] Therefore, the cables for humanoid robots need to use special conductor structures, such as cable stranding technology, which involves stranding multiple thin and soft copper wires around the outside of a central conductor, and then stranding multiple insulating materials around the outside of the cable to improve flexibility and fatigue resistance.

[0004] Existing cable stranding devices typically use a winding mechanism to pull the center conductor and stranded layer conductors to move simultaneously to one end. At the same time, a turntable drives multiple stranded layer conductors in the outer layer to rotate around the outside of the center conductor. When the multiple stranded layer conductors and the center conductor pass through the winding die, the multiple stranded layer conductors can be tightly spirally wound around the outside of the center conductor.

[0005] However, in actual use, multiple stranded conductors are pulled out from different rollers. The rotational resistance of each roller exerts a reaction force on the moving stranded conductors. Therefore, the rotational resistance of each roller will affect the tension of each stranded conductor. Moreover, as the stranded conductors on the outside of the roller are continuously pulled out, the diameter of the roller will decrease, and the tension exerted by the stranded conductors to overcome the rotational resistance of the roller will also change. This will further affect the tension of the stranded conductors. If the tensions of multiple stranded conductors are not equal, it will lead to uneven winding of the multiple stranded conductors on the outside of the cable, thereby reducing the mechanical properties of the cable. Summary of the Invention

[0006] To address the technical problem of uneven winding of multiple stranded wire layers on the outer side of existing cables, which reduces the mechanical performance of the cables, this invention provides a cable stranding device for humanoid robots.

[0007] The technical solutions provided by the embodiments of the present invention are as follows:

[0008] This invention provides a cable stranding device for humanoid robots, comprising a hollow shaft, a stranding die, and a take-up roller mounted on a base plate. A winch with multiple threading holes is fixed to one outer end of the hollow shaft. The device also includes: a tension detection device for detecting the tension balance of multiple stranded wire layers; a drive mechanism for rotating the hollow shaft; the tension detection device comprising multiple housings fixed to one side of the winch corresponding to each threading hole, one end of each housing having an electrically connected warning light and a button, a bracket fixed to one side of each housing, a rotating rod rotatably connected to the top of the bracket, two pressure rollers rotatably connected to both ends of the rotating rod, and a torsion spring for applying rotational torque to the rotating rod; a transmission mechanism for converting the rotational motion of the rotating rod into linear motion of the button; the transmission mechanism comprising a sliding rod slidably inserted into one end of the housing for fixing the button, and meshing gears and racks; the tension detection device also includes a movable ring for simultaneously pressing multiple buttons; and a damping mechanism is provided on the other side of the winch corresponding to each threading hole.

[0009] Preferably, the transmission mechanism further includes a second pulley fixed to one end of the gear located on the outside of the housing, and a first pulley rotatably connected to one side of the bracket. The first pulley is fixedly connected to one side of the rotating rod via a shaft, and the first pulley is driven by the second pulley via a synchronous belt. The rack is fixed to the outside of the slide rod, and the gear is rotatably connected to the inside of the housing.

[0010] Preferably, a connecting shaft is rotatably connected to one side of the top end of the first bracket, one end of the connecting shaft is fixed with a protruding ring, and the two ends of the torsion spring are respectively connected to the protruding ring and the first bracket.

[0011] Preferably, the movable ring is slidably connected to the outside of the hollow shaft via a sliding sleeve, and one end of the movable ring is connected to a top pressure spring, and one end of the top pressure spring is connected to a fixed ring fixed to the outside of the hollow shaft.

[0012] Preferably, a second bracket is fixed on one side of the housing near the end where the warning light is located, and two positioning rollers are rotatably connected to the top of the second bracket.

[0013] Preferably, the damping mechanism includes a threading shell fixed on the other side of the winch at the position corresponding to the threading hole. Two rotating shafts are rotatably connected through the inner side of the threading shell. A damping wheel is fixed at the middle section of each of the two rotating shafts, and a meshing shaft gear is fixed at one end of each of the two rotating shafts. The mechanism also includes a gear shell fixed on the outer side of the threading shell. Two meshing pumping gears are rotatably connected to the inner side of the gear shell. One of the pumping gears is fixedly connected to one end of one of the rotating shafts. An inlet pipe and a return pipe are respectively connected to both sides of the gear shell. A cylinder is connected between the inlet pipe and the return pipe. A throttling orifice is opened on the inner side of the cylinder. The mechanism also includes a damping adjustment mechanism for adjusting the cross-sectional area of ​​the throttling orifice.

[0014] Preferably, the damping adjustment mechanism includes a sleeve fixed to the upper end of the inner side of the cylinder and an adjusting screw connected to the lower end of the cylinder by a thread. A guide rod is slidably inserted into the lower end of the sleeve, and an adjusting ball is fixed to the lower end of the guide rod. The adjusting ball is elastically connected to the lower end of the sleeve by a pressing spring, and a push rod for pushing the adjusting ball upward is fixed to one end of the adjusting screw.

[0015] Preferably, the take-up roller is rotatably connected to the upper side of the base plate via a roller frame. A take-up motor for driving the take-up roller is installed at one end of the roller frame. A roller disc is fixed to the outer side of the hollow shaft. A stranded roller is rotatably connected to one side of the roller disc at the position corresponding to each threading hole. A center roller is rotatably connected to one end of the upper side of the base plate.

[0016] Preferably, the drive mechanism includes a driven pulley fixed to the outside of the hollow shaft and a support plate fixed to the upper side of the base plate. The hollow shaft is rotatably connected through the support plate. A stranded wire motor is installed on one side of the support plate. A drive pulley is fixed to the drive end of the stranded wire motor. The drive pulley and the driven pulley are connected by a transmission belt.

[0017] Preferably, a bracket is rotatably connected to the upper side of the base plate at a position directly below the winch, and two support wheels for supporting the winch are rotatably connected to both ends of the bracket.

[0018] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0019] In this embodiment of the invention, the stranded conductors are bent by the rotating rod and pressure roller in the tension detection device. If the tension of multiple stranded conductors is equal, the bending angle of the multiple stranded conductors is also equal. Therefore, the movable ring can be pressed simultaneously to trigger multiple buttons. If the tension of any stranded conductor decreases and it becomes loose, the button corresponding to that stranded conductor will separate from the movable ring, thereby connecting the circuit and illuminating the warning light at the corresponding position. This allows the staff to promptly detect and adjust the tension of the stranded conductors, thus achieving real-time monitoring of the tension of multiple stranded conductors, ensuring that the cable is more evenly twisted together, and further improving the stranding quality of the cable. Through multiple damping mechanisms, resistance is applied to the multiple stranded conductors in the opposite direction of their movement, which can keep the multiple stranded conductors at a constant tension. This allows the multiple stranded conductors to be evenly wound around the outside of the central conductor, ensuring that all stranded conductors are twisted with the same tightness, making the overall cable structure more stable and with stronger bending and tensile resistance. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0021] Figure 1 This is a first-view structural diagram of the present invention.

[0022] Figure 2 This is a schematic diagram of the second perspective structure of the present invention.

[0023] Figure 3 This is a schematic diagram of the first-view structure at the winch position in this invention.

[0024] Figure 4 This is a partial structural schematic diagram of the tension detection device in this invention.

[0025] Figure 5 For the present invention Figure 3 A magnified structural diagram of point A in the middle.

[0026] Figure 6 This is a schematic diagram of the second-view structure at the winch position in this invention.

[0027] Figure 7 For the present invention Figure 6 A magnified structural diagram at point B in the middle.

[0028] Figure 8 For the present invention Figure 1 A magnified structural diagram at point C.

[0029] Reference numerals: 1. Base plate; 2. Hollow shaft; 3. Winch; 4. Threading hole; 5. Parallel winding die; 6. Take-up roller; 7. Bracket; 8. Support wheel; 9. Center roller; 10. Roller disc; 11. Stranded wire roller; 12. Support plate; 13. Stranded wire motor; 14. Drive pulley; 15. Driven pulley; 16. Roller frame; 17. Take-up motor; 101. Housing; 102. Warning light; 103. Button; 104. Bracket one; 105. Rotating rod; 106. Pressure roller; 107. Connecting shaft; 108. Convex ring; 109. Torsion spring; 110. First pulley; 111. Second pulley ; 112. Synchronous belt; 113. Gear; 114. Slide rod; 115. Rack; 116. Support 2; 117. Positioning roller; 201. Fixed ring; 202. Sliding sleeve; 203. Movable ring; 204. Top pressure spring; 301. Threaded housing; 302. Rotating shaft; 303. Damping wheel; 304. Rotating shaft gear; 305. Gear housing; 306. Pump gear; 307. Cylinder; 308. Inlet pipe; 309. Return pipe; 310. Throttling orifice; 311. Adjusting ball; 312. Top rod; 313. Adjusting screw; 314. Sleeve rod; 315. Guide rod; 316. Pressing spring.

[0030] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0031] The technical solutions of the present invention will now be described with reference to the accompanying drawings. It should be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art can use other alternative methods to implement some well-known technologies. Furthermore, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0032] like Figures 1 to 8As shown, an embodiment of the present invention provides a cable stranding device for humanoid robots, including a hollow shaft 2, a stranding die 5, and a take-up roller 6 mounted on a base plate 1. A winch 3 with multiple threading holes 4 is fixed to one outer end of the hollow shaft 2. The stranding die 5 is fixed to the upper side of the base plate 1 and is collinear with the hollow shaft 2. The device also includes a tension detection device for detecting the tension balance of multiple stranded wire layers and a drive mechanism for rotating the hollow shaft 2. The tension detection device includes multiple housings 101 fixed on one side of the winch 3 at positions corresponding to each wire hole 4. One end of each housing 101 is equipped with an electrically connected warning light 102 and a button 103. A bracket 104 is fixed to one side of each housing 101. A rotating rod 105 is rotatably connected to the top of the bracket 104. Two pressure rollers 106 are rotatably connected to both ends of the rotating rod 105. The device also includes a torsion spring 109 that applies rotational torque to the rotating rod 105. A connecting shaft 107 is rotatably connected through one end of the top of the bracket 104. A protruding ring 108 is fixed to one end of the connecting shaft 107. The two ends of the torsion spring 109 are respectively connected to the protruding ring 108 and the bracket 104. A transmission mechanism converts the rotational motion of the rotating rod 105 into linear motion of the button 103. The transmission mechanism includes a sliding rod 114 slidably inserted into one end of the housing 101 for fixing the button 103, and meshing gears 113 and racks 115. The tension detection device also includes a movable ring 203 that can simultaneously press multiple buttons 103. The movable ring 203 is slidably connected to the outside of the hollow shaft 2 via a sliding sleeve 202, and one end of the movable ring 203 is connected to a pressure spring 204. One end of the pressure spring 204 is connected to a fixed ring 201 fixed to the outside of the hollow shaft 2. A damping mechanism is provided on the other side of the winch 3 at the position corresponding to each wire hole 4.

[0033] In one possible implementation, the transmission mechanism further includes a second pulley 111 fixed to one end of the gear 113 located outside the housing 101, and a first pulley 110 rotatably connected to one side of the bracket 104. The first pulley 110 is fixedly connected to one side of the rotating rod 105 via a shaft, and the first pulley 110 is connected to the second pulley 111 via a synchronous belt 112. The rack 115 is fixed to the outside of the slide rod 114, and the gear 113 is rotatably connected to the inside of the housing 101.

[0034] The transmission mechanism transmits the rotation angle of the rotating rod 105 to the gear 113 through the transmission action of the first pulley 110, the second pulley 111, and the synchronous belt 112, thereby driving the rack 115 and the slide rod 114 to move linearly, and in turn driving the button 103 to move linearly.

[0035] In one possible implementation, a bracket 116 is fixed on one side of the housing 101 near the end where the warning light 102 is located, and two positioning rollers 117 are rotatably connected to the top of the bracket 116.

[0036] Two positioning rollers 117 ensure that the stranded wire layer conductors are always at a fixed height, thereby ensuring that the stranded wire layer conductors are evenly twisted on the outside of the central conductor and improving cable quality.

[0037] In one possible implementation, the damping mechanism includes a cable housing 301 fixed on the other side of the winch 3 at the position corresponding to the cable hole 4. Two rotating shafts 302 are rotatably connected through the inner side of the cable housing 301. A damping wheel 303 is fixed at the middle section of each of the two rotating shafts 302, and a meshing shaft gear 304 is fixed at one end of each of the two rotating shafts 302. The mechanism also includes a gear housing 305 fixed on the outer side of the cable housing 301. Two meshing pumping gears 306 are rotatably connected to the inner side of the gear housing 305. One of the pumping gears 306 is fixedly connected to one end of one of the rotating shafts 302. An inlet pipe 308 and a return pipe 309 are respectively connected to both sides of the gear housing 305. A cylinder 307 is connected between the inlet pipe 308 and the return pipe 309. A throttling orifice 310 is opened on the inner side of the cylinder 307. The mechanism also includes a damping adjustment mechanism for adjusting the cross-sectional area of ​​the throttling orifice 310.

[0038] By applying resistance in the opposite direction to the movement of multiple stranded conductors through multiple damping mechanisms, the multiple stranded conductors can maintain a constant tension, thereby allowing the multiple stranded conductors to be evenly wound around the outside of the central conductor. This ensures that all stranded conductors are twisted with the same tightness, making the overall cable structure more stable and its bending and tensile resistance stronger.

[0039] In one possible implementation, the damping adjustment mechanism includes a sleeve rod 314 fixed to the upper end of the inner side of the cylinder 307, and an adjusting screw 313 rotatably connected to the lower end of the cylinder 307 by a thread. A guide rod 315 is slidably inserted into the lower end of the sleeve rod 314, and an adjusting ball 311 is fixed to the lower end of the guide rod 315. The adjusting ball 311 is elastically connected to the lower end of the sleeve rod 314 by a pressing spring 316. A push rod 312 for pushing the adjusting ball 311 upward is fixed to one end of the adjusting screw 313.

[0040] Rotating the adjusting screw 313 causes the push rod 312 to move up and down. When the push rod 312 moves upward, it pushes the adjusting ball 311 upward. The adjusting ball 311 pushes the guide rod 315 to move inward toward the sleeve rod 314, compressing the pressing spring 316. At this time, the adjusting ball 311 moves away from the throttling orifice 310, thereby increasing the cross-sectional area of ​​the throttling orifice 310. The resistance of the damping oil flowing through the throttling orifice 310 decreases, thus reducing the resistance exerted by the damping wheel 303 on the stranded wire. When the tension of the stranded conductor decreases, the adjusting ball 311 moves down under the action of the pressing spring 316, causing the adjusting ball 311 to move closer to the throttling orifice 310, thereby reducing the cross-sectional area of ​​the throttling orifice 310 and increasing the flow resistance of the damping oil. As a result, the resistance applied by the damping wheel 303 to the stranded conductor increases, thus increasing the tension of the stranded conductor. Through the resistance adjustment mechanism, the tension of each stranded conductor can be adjusted to be equal, thereby further improving the stranding quality of the cable.

[0041] In one possible implementation, the take-up roller 6 is rotatably connected to the upper side of the base plate 1 via the roller frame 16. One end of the roller frame 16 is equipped with a take-up motor 17 for driving the take-up roller 6. A roller disc 10 is fixed to the outside of the hollow shaft 2. A stranding roller 11 is rotatably connected to one side of the roller disc 10 at the position corresponding to each thread hole 4. A center roller 9 is rotatably connected to one end of the upper side of the base plate 1.

[0042] The cable end is connected to the outside of the take-up roller 6. The take-up motor 17 drives the take-up roller 6 to rotate. The rotation of the take-up roller 6 applies a certain tension to the cable, thereby causing the center line and stranded layer conductors to wind around the outside of the take-up roller 6. At the same time, the center line and stranded layer conductors separate from the outside of the center line roller 9 and multiple stranded rollers 11, respectively.

[0043] In one possible implementation, the drive mechanism includes a driven pulley 15 fixed to the outside of the hollow shaft 2 and a support plate 12 fixed to the upper side of the base plate 1. The hollow shaft 2 is rotatably connected through the support plate 12. A stranded wire motor 13 is installed on one side of the support plate 12. A drive pulley 14 is fixed to the drive end of the stranded wire motor 13. The drive pulley 14 and the driven pulley 15 are connected by a transmission belt.

[0044] The stranded wire motor 13 of the drive mechanism drives the drive pulley 14 to rotate. The drive pulley 14 drives the driven pulley 15 to rotate through the transmission belt. The driven pulley 15 drives the hollow shaft 2 to rotate. The hollow shaft 2 drives the winch 3 to rotate. The winch 3 will drive the multiple stranded wires passing through it to rotate around the outside of the central wire, so that the stranded wires can move and rotate at the same time, thus spirally winding the multiple stranded wires around the outside of the central wire.

[0045] In one possible implementation, a bracket 7 is rotatably connected to the upper side of the base plate 1, located directly below the winch 3, and two support wheels 8 for supporting the winch 3 are rotatably connected to both ends of the bracket 7.

[0046] The bracket 7 supports two support wheels 8 to support the winch 3. At the same time, the two support wheels 8 can roll along the side of the winch 3, which improves the stability of the winch 3 when it rotates at high speed, ensures that multiple stranded wire layers are evenly twisted and wrapped around the outside of the central wire, and improves the cable stranding quality.

[0047] Working principle: In use, a center wire is wound around the outside of the center wire roller 9, and stranded wire layers are wound around the outside of multiple stranded wire rollers 11. Multiple stranded wire layers need to be spirally wound around the outside of a center wire to form a cable. The end of the cable is connected to the outside of the take-up roller 6. The take-up motor 17 drives the take-up roller 6 to rotate. The rotation of the take-up roller 6 applies a certain tension to the cable, thereby causing the center wire and stranded wire layers to wind around the outside of the take-up roller 6. Simultaneously, the center wire and stranded wire layers separate from the outside of the center wire roller 9 and the multiple stranded wire rollers 11, respectively. After separation, the center wire passes through the inside of the hollow shaft 2. After being inserted into the inner side of the paralleling die 5, the multiple stranded wire layers are separated and pass through multiple wire holes 4, and then inserted into the inner side of the paralleling die 5. At the same time, the stranding motor 13 of the drive mechanism runs and drives the active pulley 14 to rotate. The active pulley 14 drives the driven pulley 15 to rotate through the transmission belt. The driven pulley 15 drives the hollow shaft 2 to rotate. The hollow shaft 2 drives the winch 3 to rotate. The winch 3 will drive the multiple stranded wire layers passing through it to rotate around the outside of the central wire, so that the stranded wire layers can move and rotate at the same time, thus spirally winding the multiple stranded wire layers around the outside of the central wire.

[0048] As the stranded conductor passes through the through-hole 4, it first passes through the gap between the two damping wheels 303. The two damping wheels 303 apply a clamping force to the stranded conductor. Therefore, when the stranded conductor moves, the friction force drives the two damping wheels 303 to rotate in opposite directions. The two damping wheels 303 drive the two rotating shaft gears 304 to rotate in opposite directions through the rotating shaft 302. Under the meshing action of the two rotating shaft gears 304, the two damping wheels 303 can be kept rotating in opposite directions at the same speed, thereby preventing the stranded conductor from colliding with the two damping wheels. Slippage occurs between the damping gears 303. When one of the rotating shafts 302 rotates, it also drives one of the pumping gears 306 to rotate. This pumping gear 306 drives the other pumping gear 306 to rotate in the opposite direction through tooth meshing. Since the inside of the gear housing 305, cylinder 307, inlet pipe 308, and return pipe 309 is filled with damping oil, referring to the principle of a gear pump, when the two pumping gears 306 rotate in opposite directions at high speed, the damping oil inside the cylinder 307 can be drawn to the gear housing 305 through the return pipe 309. The damping oil is then forced into the inlet pipe 308 through the tooth gap of the two pump gears 306, and then forced back into the inner side of the cylinder 307, thus causing the damping oil to circulate between the gear housing 305 and the cylinder 307. When the damping oil flows through the inlet pipe 308, return pipe 309 and throttle orifice 310 with a small cross-sectional area, the damping oil will be subject to constant resistance, thereby blocking the flow of damping oil. This results in constant resistance when the two damping wheels 303 rotate, and the two damping wheels 303 are subjected to friction. The friction force applies resistance to the stranded conductors in the opposite direction of their movement. The stranded conductors are simultaneously subjected to the resistance of the damping wheel 303 and the tension of the take-up roller 6. Therefore, the stranded conductors can maintain a constant tension. Through the cooperation of multiple damping mechanisms, each stranded conductor maintains equal tension, so that multiple stranded conductors can be evenly wound around the outside of the central conductor, ensuring that all stranded conductors are twisted with the same tightness, making the overall cable structure more stable and stronger in terms of bending and tensile strength.

[0049] To ensure that multiple damping mechanisms can stably maintain equal tension in multiple stranded conductor layers, a tension detection device is installed to monitor the tension of the multiple stranded conductor layers. Figure 8 As shown, each stranded wire passes between two pressure rollers 106 at the corresponding position. Due to the elastic force of the torsion spring 109, the torsion spring 109 applies a certain torque to the rotating rod 105 through the convex ring 108 and the connecting shaft 107, causing the rotating rod 105 to drive the two pressure rollers 106 to rotate horizontally. As a result, the two pressure rollers 106 press on the upper and lower sides of the stranded wire respectively, causing the two positions where the stranded wire contacts the two pressure rollers 106 to bend in opposite directions.

[0050] If the tension of multiple stranded conductors is equal, then the bending angle of each stranded conductor is also equal. Therefore, the rotation angles of the multiple rotating rods 105 are also equal. The multiple rotating rods 105 drive the first pulley 110 of the transmission mechanism to rotate by equal angles. The multiple first pulleys 110 drive the multiple second pulleys 111 to rotate by equal angles via the synchronous belt 112. The multiple second pulleys 111 drive the multiple gears 113 to rotate by equal angles. The multiple gears 113 drive the multiple racks 115 and slide rods 1 through tooth meshing. 14. The linear movement is equal in stroke, thereby driving multiple buttons 103 to move by equal stroke. Since the movable ring 203 is pressed against one end of multiple buttons 103 simultaneously under the elastic force of the top spring 204, when multiple buttons 103 move by equal stroke at the same time, the movable ring 203 always applies equal pressure to multiple buttons 103. The buttons 103 are normally closed switches, so when multiple buttons 103 are triggered by pressure, the circuit is broken. At this time, multiple warning lights 102 do not light up, indicating that the tension of multiple stranded wires is equal.

[0051] If the tension of any stranded conductor decreases, such as when the conductor slips against the damping wheel 303, resulting in reduced friction, or when the resistance applied by the damping mechanism to the conductor is too small, the rotating rod 105 of the stranded conductor with reduced tension will rotate at a larger angle relative to the other rotating rods 105. Based on this principle, the corresponding sliding rod 114 will extend outward by a larger stroke, thereby causing the corresponding button 103 to move by a larger stroke, thus separating the button 103 from the moving ring 203. At this point, the button 103 will no longer be triggered, thus closing the circuit and illuminating the warning light 102 at the corresponding position. The warning light 102 illuminates to indicate that a stranded conductor at that position is too loose, making it easier for staff to adjust the tension of the stranded conductors in a timely manner, ensuring that the cable is twisted more evenly, and further improving the twisting quality of the cable.

[0052] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0053] In this embodiment of the invention, the stranded conductors are bent by the rotating rod and pressure roller in the tension detection device. If the tension of multiple stranded conductors is equal, the bending angle of the multiple stranded conductors is also equal. Therefore, the movable ring can be pressed simultaneously to trigger multiple buttons. If the tension of any stranded conductor decreases and it becomes loose, the button corresponding to that stranded conductor will separate from the movable ring, thereby connecting the circuit and illuminating the warning light at the corresponding position. This allows the staff to promptly detect and adjust the tension of the stranded conductors, thus achieving real-time monitoring of the tension of multiple stranded conductors, ensuring that the cable is more evenly twisted together, and further improving the stranding quality of the cable. Through multiple damping mechanisms, resistance is applied to the multiple stranded conductors in the opposite direction of their movement, which can keep the multiple stranded conductors at a constant tension. This allows the multiple stranded conductors to be evenly wound around the outside of the central conductor, ensuring that all stranded conductors are twisted with the same tightness, making the overall cable structure more stable and with stronger bending and tensile resistance.

[0054] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the preferred embodiments, while those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0055] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A cable stranding device for humanoid robots, characterized in that, The device includes a hollow shaft, a wire-connecting die, and a winding roller mounted on a base plate. A winch with multiple wire-passing holes is fixed to one outer end of the hollow shaft. It also includes a tension detection device for detecting the tension balance of multiple stranded wire layers and a drive mechanism for rotating the hollow shaft. The tension detection device includes multiple housings fixed on one side of the winch at the position of each wire hole. One end of each housing is equipped with an electrically connected warning light and a button. A bracket is fixed on one side of the housing. A rotating rod is rotatably connected to the top of the bracket. Two pressure rollers are rotatably connected to both ends of the rotating rod. The device also includes a torsion spring that applies rotational torque to the rotating rod and a transmission mechanism that converts the rotational motion of the rotating rod into the linear motion of the button. The transmission mechanism includes a slide rod that is slidably inserted into one end of the housing for fixing the button, and a gear and rack that mesh with each other; The tension detection device also includes a movable ring that allows multiple buttons to be pressed simultaneously; A damping mechanism is installed on the other side of the winch at the location of each wire hole.

2. The cable stranding device for humanoid robots according to claim 1, characterized in that, The transmission mechanism also includes a second pulley fixed to one end of the gear on the outside of the housing, and a first pulley rotatably connected to one side of the bracket. The first pulley is fixedly connected to one side of the rotating rod through a shaft, and the first pulley is connected to the second pulley through a synchronous belt. The rack is fixed to the outside of the slide rod, and the gear is rotatably connected to the inside of the housing.

3. The cable stranding device for humanoid robots according to claim 1, characterized in that, A connecting shaft is rotatably connected to one side of the top of bracket one. One end of the connecting shaft is fixed with a protruding ring, and the two ends of the torsion spring are respectively connected to the protruding ring and bracket one.

4. The cable stranding device for humanoid robots according to claim 1, characterized in that, The movable ring is slidably connected to the outside of the hollow shaft via a sliding sleeve, and one end of the movable ring is connected to a top pressure spring, while the other end of the top pressure spring is connected to a fixed ring fixed to the outside of the hollow shaft.

5. The cable stranding device for humanoid robots according to claim 1, characterized in that, A bracket two is fixed on one side of the housing near the end where the warning light is located, and two positioning rollers are rotatably connected to the top of the bracket two.

6. The cable stranding device for humanoid robots according to claim 1, characterized in that, The damping mechanism includes a cable-passing housing fixed on the other side of the winch at the position corresponding to the cable-passing hole. Two rotating shafts are rotatably connected through the inner side of the cable-passing housing. A damping wheel is fixed at the middle position of each of the two rotating shafts, and a meshing shaft gear is fixed at one end of each of the two rotating shafts. The mechanism also includes a gear housing fixed on the outer side of the cable-passing housing. Two meshing pumping gears are rotatably connected to the inner side of the gear housing. One of the pumping gears is fixedly connected to one end of one of the rotating shafts. An inlet pipe and a return pipe are connected to both sides of the gear housing, respectively. A cylinder is connected between the inlet pipe and the return pipe. A throttling orifice is opened on the inner side of the cylinder. The mechanism also includes a damping adjustment mechanism for adjusting the cross-sectional area of ​​the throttling orifice.

7. The cable stranding device for humanoid robots according to claim 6, characterized in that, The damping adjustment mechanism includes a sleeve fixed to the upper end of the inner side of the cylinder and an adjusting screw connected to the lower end of the cylinder by a threaded rotation. A guide rod is slidably inserted into the lower end of the sleeve, and an adjusting ball is fixed to the lower end of the guide rod. The adjusting ball is elastically connected to the lower end of the sleeve through a pressing spring. A push rod for pushing the adjusting ball upward is fixed to one end of the adjusting screw.

8. The cable stranding device for humanoid robots according to claim 1, characterized in that, The take-up roller is rotatably connected to the upper side of the base plate via a roller frame. A take-up motor for driving the take-up roller is installed at one end of the roller frame. A roller disc is fixed on the outer side of the hollow shaft. A stranded roller is rotatably connected to one side of the roller disc at the position corresponding to each threading hole. A center roller is rotatably connected to one end of the upper side of the base plate.

9. The cable stranding device for humanoid robots according to claim 1, characterized in that, The drive mechanism includes a driven pulley fixed to the outside of the hollow shaft and a support plate fixed to the upper side of the base plate. The hollow shaft is rotatably connected inside the support plate. A stranded wire motor is installed on one side of the support plate. The drive end of the stranded wire motor is fixed with a driving pulley. The driving pulley and the driven pulley are connected by a transmission belt.

10. The cable stranding device for humanoid robots according to claim 1, characterized in that, A bracket is rotatably connected to the upper side of the base plate, directly below the winch. Two support wheels that support the winch are rotatably connected to both ends of the bracket.

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