Rope tension consistency calibration device and method and application

Abstract

The invention discloses a rope tension consistency calibration device and method and application, and belongs to the technical field of rope driving. Comprising a mounting part mounted on a reference section of a rope and a sighting device assembled on the mounting part, a light spot is generated when the sighting device is used for the first time and the rope is in a preset tensioning state, a mark point is calibrated according to the light spot, and a calibration point is used for rope tensioning degree consistency calibration at the same position. A calibration point is generated through the sighting device under the preset tensioning state of the rope, and a clear reference is provided for follow-up tensioning degree calibration. In the dynamic use process, the consistency calibration of the tension degree of the rope at the same position can be quickly realized only by adjusting the tension degree of the rope to enable the projection point of the calibration ray to coincide with the calibration point, the problem that the tension degree is difficult to reproduce due to the difference of self weight and elastic deformation of the rope in the traditional mode is solved, and the calibration precision is greatly improved.

Description

Technical Field

[0001] This invention belongs to the technical field of rope-driven systems, and in particular relates to a rope tension consistency calibration device and method, and its application. Background Technology

[0002] Rope-driven equipment is playing an increasingly important role in numerous fields such as industrial production, logistics, scientific research, and services, with wire-controlled robots being a typical example. These devices rely on ropes to drive various complex movements and functions, and the consistency of rope tension is crucial for precise control, stable operation, and lifespan. However, rope-driven equipment currently faces many pressing problems in rope tension control that require immediate resolution.

[0003] First, the rope's own weight is a crucial factor affecting the consistency of tension. Ropes at different locations and of different lengths will experience varying degrees of elastic deformation due to their own weight. Furthermore, when the equipment performs repetitive operations, the stress and elastic deformation of the rope are not exactly the same during each operation, making it impossible to reach the initial tension standard again, thus affecting the equipment's operational accuracy and stability.

[0004] Secondly, the diversity of rope materials presents significant challenges to the consistent calibration of tension. Ropes made of different materials exhibit substantial differences in physical properties such as elastic modulus and coefficient of friction. For example, steel wire ropes possess high strength and relatively small elastic deformation, while fiber ropes exhibit greater elasticity and more significant deformation. Therefore, the specified tension standards differ for ropes made of different materials.

[0005] Currently, it is difficult to find a unified calibration method in the industry that can be applied to ropes of various materials. This makes it difficult for rope drive equipment to achieve universality and standardization in the calibration and control of rope tension. Summary of the Invention

[0006] To address the technical problems existing in the background art, the present invention provides a rope tension consistency calibration device and method, and its application.

[0007] This invention is achieved through the following technical solution: a rope tension consistency calibration device, comprising: The mounting component is installed on the reference section of the rope; The sight is mounted on the mounting component; The light spot is generated when the sight is used for the first time and the rope is under preset tension. The marker points are determined based on the light spot; these marker points are used for calibration of the consistency of rope tension at the same location.

[0008] In a further embodiment, the mounting member has a rotational degree of freedom; in use, the mounting member is in a natural hanging state by its own gravity.

[0009] In a further embodiment, the mounting member comprises: a sleeve member having a space allowance for natural hanging; a fine adjustment assembly arranged on the sleeve; the fine adjustment assembly is used for mounting and adjusting the sight.

[0010] In a further embodiment, the sight comprises at least a laser emitter, an infrared emitter, and a visible light projector.

[0011] The calibration method using the rope tension consistency calibration device as described above comprises the following steps: an assembly stage: the mounting member of the calibration device is sleeved on the rope reference section, and the sight is kept in a specified geometric positional relationship with the reference section; an initial calibration: the tension of the rope is adjusted until the sight emits an initial ray when in a preset tension state, the initial ray is projected to a preset reference plane to form a light spot, and a mark point is generated based on the light spot; a dynamic calibration: when the rope is used later, the sight emits a calibration ray; the calibration point projected by the calibration ray is adjusted to coincide with the mark point by adjusting the tension of the rope, and the tension consistency calibration is completed.

[0012] In a further embodiment, the calibration device further comprises a sight correction before the assembly stage: the physical relationship between the sight and the mounting member is adjusted by the fine adjustment assembly.

[0013] In a further embodiment, the mounting member is sleeved on the reference section in a natural hanging state.

[0014] In a further embodiment, the rope is a current rope or a replaced rope.

[0015] The rope tension consistency calibration device as described above is applied to a wire-controlled robot.

[0016] The present application has the following beneficial effects: first, the present application discloses a rope tension consistency calibration device, which generates a calibration point by the sight under a preset tension state of the rope, and provides a clear reference for subsequent tension calibration. In the dynamic use process, only the calibration ray projection point needs to be adjusted to coincide with the calibration point, and the consistency calibration of the same position of the rope tension can be quickly realized, which solves the problem that the tension is difficult to reproduce due to the weight and elastic deformation difference of the rope in the traditional way, and greatly improves the calibration accuracy.

[0017] The mounting piece is designed to adapt to any type of rope, whether it is a high-strength steel wire rope, a fiber rope with greater elasticity, or a rope made of other materials, which can be stably sleeved through the mounting piece. Without separately designing and calibrating devices for different materials, the problem of poor calibration universality caused by the diversity of rope materials is solved, and the cost of device adaptation is reduced.

[0018] Especially suitable for wire-controlled robots and other rope-driven devices, precise control of rope tension can ensure the accuracy and response speed of robot joint movement, and prolong the service life of the rope. At the same time, it can also play an important role in the fields of industrial hoisting, mechanical transmission, scientific research equipment, and other fields involving rope tension control, helping various devices to achieve stable and efficient operation. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural diagram of a rope tension consistency calibration device according to Embodiment 1.

[0020] Figure 2 is a side view of a rope tension consistency calibration device according to Embodiment 1.

[0021] Figure 3 is a flowchart of the calibration method according to Embodiment 2.

[0022] Figure 4 is a calibration principle diagram of a wire-controlled robot according to Embodiment 2.

[0023] Figures 1 to 4 Each annotation in is: rope 1, reference section 2, mounting piece 3, collimator 4, light spot 5, mark point 6, sleeving piece 7, fine adjustment assembly 8. DETAILED DESCRIPTION

[0024] The present application will be further described below in conjunction with the drawings and embodiments of the specification.

[0025] Embodiment 1 This embodiment discloses a rope 1 tension consistency calibration device, as shown in Figure 1 and Figure 2 includes a mounting piece 3 mounted at the reference section 2 of the rope. It is worth mentioning that the reference section 2 described in this embodiment is a part that has representative stress and stable deformation law under working conditions.

[0026] For example: for the driving rope 1 in the wire-controlled robot, the reference section 2 can be selected as the section located in the middle of the robot joint transmission path, away from the end connection point, which is uniformly stressed and can reflect the overall tension characteristics of the rope 1; For the hoisting rope 1, a section far away from the hook and the fixed end, in the middle and stable under stress can be selected to avoid the influence of local stress concentration caused by the end connection mode on the calibration accuracy. This section meets the relative fixed position, and will not be significantly displaced during the normal movement of the rope 1 (such as stretching and swinging), and is convenient for the sleeve of the mounting piece 3 and provides a stable projection environment for the sighting device 4, so as to realize the consistency control of the tension of the entire rope 1 through the initial calibration and dynamic calibration of the reference section 2.

[0027] Considering that the rope 1 will be replaced by the same type of rope 1 or different types of rope 1 due to its wear or strength requirements during use, the mounting piece 3 described in the embodiment is suitable for any type of rope 1, such as steel wire rope, hemp rope, etc.

[0028] Further comprising: the sighting device 4 assembled on the mounting piece 3, the sighting device 4 of the embodiment at least includes: a laser emitter, an infrared emitter, a visible light projector, etc. In other embodiments, any device that can stably emit an identifiable directional signal (ray or line of sight) and form a trace on the reference plane that can be used for comparison can be used as the sighting device 4.

[0029] Based on this, further comprising: the light spot 5 and the marker point 6. Wherein, the light spot 5 is generated when the sighting device 4 is used for the first time and the rope 1 is in a preset tension state. It should be noted that the light spot 5 is generated by the first use of the sighting device 4 on the corresponding rope 1, because the rope 1 is replaceable. However, regardless of how the rope 1 is replaced, the light spot 5 will always be the marker point 6 for a position and tension consistency requirement. That is, the current position of the light spot 5 is marked to generate the corresponding marker point 6 by artificial marking or any other form. Therefore, the calibration point is used for the tension consistency calibration of the rope 1 in the same position, that is, in the same preset tension state, the light spot 5 generated later should coincide with the marker point 6.

[0030] In other words, if the preset tension state changes, the corresponding light spot 5 will be regenerated. For example, the marker point 6 corresponding to the first preset tension state is light spot one, and the marker point 6 corresponding to the second preset tension state is light spot two.

[0031] Therefore, the rope 1 will be adjusted to a rope 1 with different outer diameters according to actual needs, which will trigger a series of chain reactions, of which the most critical point is that it will cause a significant change in the originally relatively stable physical relative position between the mounting piece 3 and the rope reference section 2. For example, the distance between the inner wall of the mounting piece 3 and the center of the rope 1 will change.

[0032] When the relative position of the two changes, the angle of light projection will deviate accordingly. For example, if the distance between the inner wall of the mounting member 3 and the center of the rope 1 increases, the light may be projected onto the rope 1 at a more inclined angle, causing the position of the light spot 5 to shift on the rope 1 compared to before, and no longer be at the original accurate marking point 6, thereby affecting the subsequent tension consistency calibration based on the light spot 5, resulting in calibration errors.

[0033] Therefore, in order to overcome the above problems, the mounting member 3 described in the embodiment has a rotational degree of freedom; in use, the mounting member 3 relies on its own gravity to be in a natural hanging state.

[0034] Further, the mounting member 3 includes a sleeve member 7 with a hollow structure of a predetermined size inside, which provides the required space allowance for natural hanging. In use, the sleeve member 7 is directly sleeved on the reference section 2, and is adapted to ropes 1 of any size due to the pre-existing space allowance. A fine adjustment assembly 8 is provided on the sleeve for mounting and adjusting the sight 4.

[0035] In use, the mounting member 3 relies on its own gravity to be in a natural hanging state, which is based on the principle that gravity can achieve automatic alignment and balance. In actual use, regardless of the changes in the rope 1, the mounting member 3 will automatically adjust to a relatively stable and mechanically balanced posture when it is in a natural hanging state. For example, when the tension of the rope 1 changes or the rope 1 is replaced by a different outer diameter, the mounting member 3 will be affected by gravity and will naturally sag and find a suitable position in the vertical direction, so that the sight 4 mounted thereon can also be at a relatively stable and reasonable height and angle.

[0036] The sleeve member 7 has a hollow structure of a predetermined size inside, which is directly sleeved on the rope reference section 2 in use, and the space allowance provided by the hollow structure is used to adapt to ropes 1 of different sizes. Whether it is a thin fiber rope or a thick steel wire rope, the hollow structure can accommodate the rope 1 to pass through, and provide a certain activity space between the rope 1 and the sleeve member 7, avoiding problems such as excessive compression or installation difficulty due to changes in the size of the rope 1.

[0037] The fine adjustment assembly 8 provided on the sleeve has the working principle of being able to finely adjust the position and angle of the sight 4 mounted thereon in multiple dimensions (such as horizontal, vertical, angle, etc.) through precise adjustment mechanisms, such as knobs with scales, lead screws, etc. When the light spot 5 deviates slightly due to changes in the outer diameter of the rope 1, the operator can use the fine adjustment assembly 8 to finely adjust the position and angle of the sight 4, so that the light is accurately projected onto the desired marking point 6, ensuring the accuracy of the tension consistency calibration.

[0038] Embodiment 2 Based on the rope tension consistency calibration device disclosed in Embodiment 1, this embodiment discloses a calibration method of the consistency calibration device, including the following steps: Assembly stage: the mounting part 3 of the calibration device is sleeved on the rope reference section 2, and the sight 4 maintains a specified geometric positional relationship with the reference section 2; for example, in the industrial hoisting scene, the section far away from the hook and the fixed end and in the middle and stable under stress is selected as the reference section 2, because this position can effectively avoid the problem of local stress concentration caused by the end connection mode, thereby ensuring the accuracy of subsequent calibration. For the drive rope 1 in the wire-controlled robot, the reference section 2 is usually selected in the middle of the robot joint transmission path, far away from the end connection point. Since this position is under uniform stress, it can well reflect the tension characteristics of the entire rope 1, and will not be significantly displaced during the normal movement of the rope 1 (such as stretching, swinging, etc.), thereby providing stable basic conditions for subsequent calibration and calibration work.

[0039] Initial calibration: adjust the tension of the rope 1 until it is in the preset tension state, the initial ray is emitted by the sight 4, the initial ray is projected to the preset reference plane to form a light spot 5, and the mark point 6 is calibrated based on the light spot 5; this mark point 6 will be an important reference standard in the subsequent dynamic calibration process, and its accuracy is directly related to the final effect of the entire rope 1 tension consistency calibration work, so relevant operation specifications must be strictly followed during the marking process to ensure the accurate position of the mark point 6, and corresponding records and protection measures should be taken to prevent the mark point 6 from being damaged or deviating due to external factors (such as dust pollution, physical friction, etc.).

[0040] Dynamic calibration: when the rope 1 is used later, the calibration ray is emitted by the sight 4; by adjusting the tension of the rope 1, the calibration point projected by the calibration ray coincides with the mark point 6, that is, the tension consistency calibration is completed. During the dynamic calibration process, the sight 4 will emit the calibration ray again. The operator needs to finely adjust the tension of the rope 1 through corresponding adjustment means, such as using the adjustment knobs, lead screws, etc. on the rope tension adjustment device. During the adjustment process, the relative positional relationship between the calibration point formed by the calibration ray projected on the reference plane and the mark point 6 generated by the initial calibration should be closely observed. By continuously adjusting the tension of the rope 1, the calibration point projected by the calibration ray gradually coincides with the mark point 6.

[0041] In further embodiments, further comprising: before the assembly stage, further comprising the collimator 4 correction: adjusting the physical relationship between the collimator 4 and the mounting 3 through the fine adjustment assembly 8. Adjusting the collimator 4 through knobs, lead screws, etc. to achieve the position correction between the collimator 4 and the mounting 3. Providing a solid and reliable basis for subsequent rope 1 tension consistency calibration work, thereby effectively improving the accuracy and reliability of the entire calibration system, and ensuring the stable operation of various rope 1 driving equipment.

[0042] Embodiment 3 Based on the rope 1 tension consistency calibration device disclosed in embodiment 1, the embodiment discloses a wire-controlled robot, including a rope 1, a motor controlling the length of the rope 1, and an execution mechanism connected to the end of the rope 1. The execution mechanism described in this embodiment can be a gripper, a spray head, etc. For the rope 1 in the wire-controlled robot, selecting a suitable rope reference section 2 is the primary step of calibration. Usually, the section located in the middle of the robot joint transmission path, away from the end connection point, is selected as the reference section 2. This is because the force at this position is relatively uniform, and its deformation law during robot movement is relatively stable, which can well reflect the tension characteristics of the entire rope 1. Moreover, during the daily operation of the robot, such as joint flexion, extension, rotation, etc., the rope 1 at this position will not change significantly, providing a relatively stable basis for subsequent calibration work.

[0043] The mounting 3 of the rope 1 tension consistency calibration device disclosed in embodiment 1 is set on the selected rope reference section 2. Before installing the mounting 3, collimator 4 correction work is first performed. The physical relationship between the collimator 4 and the mounting 3 is adjusted through the fine adjustment assembly 8, so that the collimator 4 is in the best working state.

[0044] During installation, it is necessary to ensure that the mounting 3 and the rope 1 fit well, neither hindering the normal movement of the rope 1 nor ensuring that the mounting 3 itself maintains a stable position on the rope 1. The structural characteristics of the mounting 3 enable it to adapt to different types and thicknesses of ropes 1, providing suitable fitting space for the rope 1 through its own design (such as internal hollow structure, etc.), and the fine adjustment assembly 8 equipped on the mounting 3 can finely adjust the position and angle of the collimator 4 during subsequent calibration.

[0045] Then the initial calibration is carried out, and the tension of the rope 1 is adjusted until it is in the preset tension state. During this process, the tension of the rope 1 is monitored in real time by means of professional tension measurement tools to ensure that the force on each part of the rope 1 is uniform and meets the preset requirements. When the preset tension state is reached, the collimator 4 emits an initial ray, which is projected to the preset reference plane (usually a specially processed, easily observed and marked plane set in the robot workspace) to form a light spot 5, and then based on this light spot 5, a high-precision marking means is used to generate a marking point 6. This marking point 6 becomes an important reference for subsequent judgment of whether the tension of the rope 1 is consistent, and it accurately records the ideal light spot 5 position corresponding to the rope reference section 2 under the preset tension state.

[0046] In the actual operation of the online control robot, the tension of the rope 1 will change due to frequent stretching, contraction and external environmental factors (such as temperature changes, vibrations, etc.). In order to ensure the accuracy and response speed of the robot actuator movement, dynamic calibration is needed.

[0047] In the dynamic calibration stage, the collimator 4 will emit a calibration ray again. When the robot performs different actions, the control system will determine whether the tension of the rope 1 deviates from the initial calibration state according to the preset algorithm and the current motion state. If there is a deviation, the tension of the rope 1 is changed by adjusting the motor that controls the length of the rope 1, so that the calibration point of the calibration ray coincides with the marking point 6 generated by the initial calibration.

[0048] Through such a continuous dynamic calibration process, the changes in the tension of the rope 1 can be corrected in real time, ensuring that the rope 1 can provide accurate and consistent power transmission every time the robot performs an action, so that the gripper, spray head and other actuators can accurately complete the corresponding tasks, such as the gripper can grasp objects with accurate force and angle, the spray head can spray according to the set range and angle, etc., effectively improving the overall working performance and work quality of the online control robot.

Claims

1. A rope tension uniformity calibration device characterized by, The application relates to a device for calibrating the tension consistency of a rope, comprising: a mounting part mounted on a reference section of the rope; a sight mounted on the mounting part; a light spot generated by the sight when the sight is used for the first time and the rope is in a preset tension state; a mark point calibrated according to the light spot; the mark point is used for calibrating the tension consistency of the rope in the same position.

2. The rope tension uniformity calibration device according to claim 1, wherein The mounting part has a rotation freedom; when used, the mounting part is in a natural hanging state by virtue of its own gravity.

3. The rope tension uniformity calibration device according to claim 1, wherein The mounting part comprises: a sleeve part having a space allowance required for natural hanging; a fine adjustment assembly arranged on the sleeve; the fine adjustment assembly is used for mounting and adjusting the sight.

4. The rope tension uniformity calibration device according to claim 1, wherein The sight at least comprises a laser emitter, an infrared emitter and a visible light projector.

5. A calibration method using the rope tension uniformity calibration device according to any one of claims 1 to 4, characterized by, The application further relates to a method for calibrating the tension consistency of a rope, comprising the following steps: an assembly stage: the mounting part of the calibration device is sleeved on the reference section of the rope, and the sight is kept in a specified geometric position relationship with the reference section; an initial calibration: the tension of the rope is adjusted until the sight emits an initial ray when the rope is in a preset tension state; the initial ray is projected to a preset reference plane to form a light spot, and a mark point is calibrated based on the light spot; a dynamic calibration: when the rope is used later, the sight emits a calibration ray; the tension of the rope is adjusted so that a calibration point projected by the calibration ray coincides with the mark point, and the tension consistency calibration is completed.

6. The rope tension uniformity calibration method according to claim 5, characterized by, Before the assembly stage, the method further comprises a sight correction: the physical position relationship between the sight and the mounting part is adjusted by the fine adjustment assembly.

7. The rope tension uniformity calibration method according to claim 5, characterized by, The mounting part is sleeved on the reference section in a natural hanging state.

8. The rope tension uniformity calibration method according to claim 5, characterized by, The rope is a current rope or a replaced rope.

9. The rope tension uniformity calibration device according to any one of claims 1 to 4, characterized in that The application is applied to a wire-controlled robot.

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