High-precision spatial three-dimensional rope tension measuring device

Abstract

The invention discloses a high-precision spatial three-dimensional rope tension measuring device which comprises a guide assembly, a winding drum and a measuring mechanism. The winding drum is arranged in front of the guide assembly; the guide assembly comprises a base, a guide unit and a measuring unit; the guide unit sequentially comprises a first guide wheel, a second guide wheel, a third guide wheel and a fourth guide wheel from front to back, the axes of the second guide wheel, the third guide wheel and the fourth guide wheel are arranged in parallel, and the guide face of the first guide wheel faces the winding drum. A rope on the winding drum sequentially penetrates through the guide wheels and extends downwards to be connected with a load. The measuring mechanism measures the tension of the rope. The guide nodes are simplified to four places, so that the overall structure of the device is greatly simplified, and the occupied space and the self weight of the device are reduced. The axes of the second to fourth guide wheels are arranged in parallel, so that rope winding micro-friction reliable guiding and load connection are facilitated, and high-precision, high-stability and reliable tension measurement of a measuring mechanism is facilitated.

Description

Technical Field

[0001] This invention belongs to the field of force sensor technology, specifically relating to a high-precision spatial three-dimensional rope tension measurement device. Background Technology

[0002] In the operation of high-end equipment and complex machinery, it is necessary to measure the tension of ropes in real time in order to achieve corresponding motion control and ensure the safety and stability of equipment operation.

[0003] In existing technologies, rope tension measurement is mostly achieved through tension sensors in a two-dimensional force-bearing space, with a measurement accuracy of approximately 0.1%. However, for high-precision measurement of rope tension in three-dimensional space, a dedicated three-dimensional rope guiding mechanism is typically required in conjunction with the tension sensor in the two-dimensional force-bearing space. This type of solution involves as many as seven guiding nodes, resulting in drawbacks such as complex structure, large space occupation, heavy equipment, and high rope friction. Furthermore, the frictional fluctuations caused by multiple guiding nodes further reduce the accuracy of tension measurement, failing to meet the requirements for high-precision, high-stability measurement of rope tension (better than 0.02%) and reliable guidance under low friction in three-dimensional space with significant changes in angle and orientation. Summary of the Invention

[0004] The technical problem this invention aims to solve is to address the shortcomings of the prior art by providing a high-precision three-dimensional rope tension measuring device. By reducing the number of guide nodes to four, the overall structure of the device is significantly simplified, reducing friction. The parallel arrangement of the axes of the second to fourth guide wheels facilitates reliable guidance of the rope's winding under low friction and connection to the load, and enables the measuring mechanism to measure tension with high precision and stability. This addresses the technical problem in existing technologies where multi-node guidance leads to frictional fluctuations that reduce the accuracy of tension measurement, making it difficult to meet the requirements for rope tension measurement under significant changes in angle and orientation within three-dimensional space.

[0005] The present invention adopts the following technical solution: a high-precision spatial three-dimensional rope tension measuring device, comprising a guide assembly, a drum, and a measuring mechanism; The drum is positioned in front of the guide assembly; the guide assembly includes a base, a guide unit, and a measuring unit; the guide unit includes, from front to back, a first guide wheel, a second guide wheel, a third guide wheel, and a fourth guide wheel, wherein the axes of the second guide wheel, the third guide wheel, and the fourth guide wheel are arranged in parallel, the first guide wheel is positioned at a predetermined location on the second guide wheel, the axis of the first guide wheel is at a predetermined angle to the axis of the second guide wheel, and the guide surface of the first guide wheel faces the drum; The rope on the drum passes through each guide pulley in sequence and extends downward to connect to the load; the measuring mechanism is used to measure the tension of the rope.

[0006] Preferably, the second, third, and fourth guide wheels are arranged in a regular pattern, such that the projection of the rope in the vertical plane at the axis of the third guide wheel is at a set angle.

[0007] Preferably, the rope passes under the second guide wheel and exits above the third guide wheel, and the measuring mechanism is used to measure the rope force on the third guide wheel.

[0008] Preferably, the axis of the drum is arranged in a predetermined direction, and the axis of the drum and the axis of the second guide wheel are arranged at a predetermined angle.

[0009] Preferably, the measuring mechanism includes a tension-sensitive structure, a measuring circuit, and a signal conditioning module. The measuring circuit obtains a tension signal based on the tension-sensitive structure, and the signal conditioning module provides a precision power supply to the measuring circuit and filters and amplifies the tension signal.

[0010] Preferably, the tension-sensitive structure includes a force sensor for measuring the force exerted by the rope on at least one of the guide wheels.

[0011] Preferably, the base has a mounting cavity in the middle, the signal conditioning module is arranged in the mounting cavity, and the tension sensitive structure extends from one side of the mounting cavity and is connected to the corresponding guide wheel.

[0012] Preferably, the measurement circuit is a Wheatstone bridge.

[0013] Preferably, each guide wheel has an annular guide groove on its outer cylindrical circumference and a set of rolling bearings inside, which realizes micro-friction for guidance.

[0014] Preferably, each of the guide wheels is a V-shaped wheel, and the first guide wheel may have a V-shaped flat bottom structure. The guide unit also includes an anti-detachment structure, which is used to prevent the rope from jumping off the guide wheel and to achieve reliable guidance.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: By setting a guide assembly with four guide wheels, the number of guide nodes is reduced to four, significantly simplifying the overall structure of the device compared to the existing design with seven guide nodes, and reducing the space occupied and weight of the equipment. The axes of the second to fourth guide wheels are arranged in parallel, which facilitates reliable guidance of the rope winding under micro-friction and connection to the load, and also enables the measuring mechanism to measure tension with high precision and high stability. The first guide wheel is arranged facing the drum, which is suitable for scenarios where the three-dimensional spatial angle of the rope changes significantly during the winding and unwinding of the drum, thus achieving reliable guidance of the three-dimensional rope winding under micro-friction.

[0016] This allows the rope on the drum to be wound along a predetermined path and connected to the load, adapting to application scenarios where the rope's angle changes significantly in three-dimensional space during the drum's winding and unwinding process. Combined with a measuring mechanism, it can realize the measurement of three-dimensional rope tension in space, solving the problems of complex structure and high friction in existing technologies, and laying the foundation for high-precision measurement and reliable guidance of micro-friction forces.

[0017] Furthermore, by limiting the way the rope passes through the second and third guide wheels, the rope exerts a stable and clear force on the third guide wheel, transforming the measurement of large-angle tension changes in three-dimensional space into a force measurement that is easier to capture accurately. This simplifies the measurement logic and improves the sensitivity and accuracy of tension measurement.

[0018] Furthermore, the axis of the drum and the axis of the second guide wheel are arranged at a specified spatial angle, and the axis of the first guide wheel and the axis of the second guide wheel are at a specified angle. The first guide wheel can be a V-shaped flat bottom or other structural forms to adapt to the large-angle change law of the rope in three-dimensional space during the winding and unwinding of the drum. This allows the rope to smoothly transition to the first guide wheel after being drawn from the drum, reducing rope bending and jamming, reducing frictional resistance between the rope and the drum and guide wheel, and maintaining a low-friction operating state. At the same time, it avoids the problem of rope wear caused by parallel axes, extends the service life of the rope and guide wheel, and ensures the stability of the rope under force.

[0019] In summary, this invention, through the integrated design of the guiding components and measuring mechanism, simplifies the guiding nodes to four locations, achieving a compact structure, a weight of less than 600g, and convenient assembly and disassembly, significantly reducing the friction of the rope guide. Combining a highly sensitive tension-sensitive structure, a Wheatstone bridge measurement circuit, and a micro-friction guiding mechanism, it achieves high-precision measurement of rope tension better than 0.02% for arbitrary directions and significant angle changes in three-dimensional space. Simultaneously, the signal conditioning module enables tension signal conditioning and feedback control, providing a reliable basis for the motion control of the launch and take-up system.

[0020] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the following description of the relative embodiments will be briefly introduced. 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.

[0022] Figure 1 This is a schematic diagram of the overall structure of a high-precision spatial three-dimensional rope tension measuring device (excluding the drum) according to the present invention; Figure 2This is a schematic diagram of the operation of a high-precision three-dimensional spatial rope tension measuring device according to the present invention.

[0023] The components include: 1. Guide assembly; 11. Base; 12. First guide wheel; 13. Second guide wheel; 14. Third guide wheel; 15. Fourth guide wheel; 16. Support frame; 17. Rotating shaft; 18. Mounting cavity; 2. Drum; 21. Rope; 3. Measuring mechanism; 31. Signal conditioning module; 32. Electrical connector. Detailed Implementation

[0024] 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, not all, of the embodiments of the present invention. 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.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "one side," "one end," and "one side," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0028] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0029] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0030] The accompanying drawings illustrate various structural schematic diagrams according to embodiments disclosed in this invention. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0031] This invention provides a high-precision three-dimensional rope tension measuring device. Through the integrated design of the guide component 1 and the measuring mechanism 3, the guide nodes are reduced to four locations, achieving a compact structure, light weight, and convenient assembly and disassembly, significantly reducing the friction of the rope 21 guide. Combining a highly sensitive tension-sensitive structure, a Wheatstone bridge measurement circuit, and a micro-friction guide mechanism, high-precision measurement of the rope 21 tension in any direction and with significant angle changes in three-dimensional space is achieved. Simultaneously, the signal conditioning module 31 enables tension signal conditioning and feedback control, providing a reliable basis for the motion control of the release and take-up system.

[0032] Please see Figure 1 , Figure 2 The present invention discloses a high-precision spatial three-dimensional rope tension measuring device, characterized in that it includes a guide assembly 1, a drum 2, and a measuring mechanism 3.

[0033] Among them, such as Figure 2 As shown, the roll 2 is positioned in front of the guide assembly 1. The guide assembly 1 includes a base 11, a guide unit, and a measuring unit.

[0034] The guiding unit comprises, from front to back, a first guide wheel 12, a second guide wheel 13, a third guide wheel 14, and a fourth guide wheel 15. The axes of the second guide wheel 13, the third guide wheel 14, and the fourth guide wheel 15 are arranged parallel to each other. The first guide wheel 12 is positioned at a predetermined location relative to the second guide wheel 13, with its axis at a predetermined angle to the axis of the second guide wheel 13, and its guiding surface facing the drum 2.

[0035] Specifically, such as Figure 1 As shown, in this embodiment, according to actual usage requirements, the first guide wheel 12 can be arranged diagonally above the second guide wheel 13, and the axis of the first guide wheel 12 is arranged perpendicular to the axis of the second guide wheel 13. Of course, in other embodiments, the first guide wheel 12 can also be arranged in front of the second guide wheel 13, diagonally below it, etc., and the axis of the first guide wheel 12 can also be arranged at other angles with the axis of the second guide wheel 13. This is an adaptive adjustment that can be made in actual applications, such as according to the arrangement position of the drum 2.

[0036] The drum 2 is driven to rotate by the winding device, and the rope 21 is wound on the drum 2. The rope 21 is wound on the drum 2 by the winding device.

[0037] like Figure 2 As shown, the rope 21 on the drum 2 passes through each guide pulley in sequence and extends downwards to connect to the load. The measuring mechanism 3 is used to measure the tension of the rope 21.

[0038] By setting a guide assembly 1 with four guide wheels, the guiding nodes are reduced to four, which significantly simplifies the overall structure of the device compared to the existing design with seven guide nodes, reducing the space occupied and weight of the equipment. The axes of the second to fourth guide wheels 15 are arranged in parallel, which facilitates the winding of the rope 21 and the connection of the load guide, and also facilitates the subsequent measurement mechanism 3 to measure the tension. The first guide wheel 12 is arranged facing the drum 2, which is suitable for the scenario where the three-dimensional spatial angle of the rope 21 changes significantly when the drum 2 is winding and unwinding, so as to achieve reliable guidance of the micro-friction force of the three-dimensional rope 21.

[0039] This allows the rope 21 on the drum 2 to be wound along a predetermined path and connected to the load, adapting to the application scenario where the angle of the rope 21 changes significantly in three-dimensional space during the winding and unwinding process of the drum 2. In conjunction with the measuring mechanism 3, it can realize the measurement of the tension of the rope 21 in three-dimensional space, solving the problems of complex structure and high friction in the existing technology, and laying a reliable foundation for high-precision measurement and micro-friction force guidance.

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0041] Please see Figure 1 , Figure 2 In a high-precision three-dimensional spatial rope tension measuring device of the present invention, a support frame 16 is respectively provided on the base 11 at the positions corresponding to the second guide wheel 13, the third guide wheel 14, and the fourth guide wheel 15. The second guide wheel 13, the third guide wheel 14, and the fourth guide wheel 15 are rotatably mounted on the corresponding support frame 16 via corresponding rotating shafts 17. The axes of the second guide wheel 13, the third guide wheel 14, and the fourth guide wheel 15 all extend in the left-right direction.

[0042] The support frame 16 of the first guide wheel 12 is arranged on the support frame 16 of the second guide wheel 13 at a specified angle according to actual applicability requirements. The first guide wheel 12 is rotatably mounted on its support frame 16, thus completing the assembly of the first guide wheel 12.

[0043] Preferably, in this embodiment, the support frame 16 of the first guide wheel 12 is rotatably mounted on the support frame 16 of the second guide wheel 13 to facilitate adjustment of the spatial angle of the support frame 16 of the first guide wheel 12.

[0044] At the same time, such as Figure 1 As shown, the axis of the first guide wheel 12 is offset to one side of the rotation axis of the second guide wheel 13, so that after the rope 21 passes through the first guide wheel 12, it can smoothly transition to the guide surface of the second guide wheel 13. This enables the first guide wheel 12 to smoothly guide the rope 21, which is in a three-dimensional spatial position, to the remaining guide wheels.

[0045] Preferably, in this embodiment, according to actual usage requirements, as follows: Figure 1 In the arrangement shown, the axis of the drum 2 is arranged in a specified direction, and the axis of the drum 2 is arranged at a specified angle with the axis of the second guide wheel 13.

[0046] Specifically, such as Figure 1As shown, the axis of the second guide wheel 13 extends in the left-right direction, the axis of the drum 2 and the axis of the second guide wheel 13 are at a specified spatial angle, and the right side of the axis of the drum 2 extends forward and the left side extends backward.

[0047] This design adapts to the three-dimensional spatial angle changes of the rope 21 during the winding and unwinding of the drum 2, allowing the rope 21 to smoothly transition to the first guide wheel 12 after being drawn out from the drum 2. This reduces bending and jamming of the rope 21, lowers the frictional resistance between the rope 21 and the drum 2 and the guide wheel, and maintains a low-friction operating state. At the same time, it avoids the problem of uneven wear of the rope 21 caused by parallel axes, extends the service life of the rope 21 and the guide wheel, and ensures the stability of the rope 21 under stress.

[0048] Preferably, in this embodiment, the measuring mechanism 3 includes a tension-sensitive structure, a measuring circuit, and a signal conditioning module 31. The measuring circuit obtains a tension signal based on the tension-sensitive structure, and the signal conditioning module 31 provides a precision power supply to the measuring circuit and performs filtering and amplification of the tension signal.

[0049] In this embodiment, the measuring mechanism 3 is used to measure the force of the rope 21 acting on the third guide wheel 14. Specifically, the third guide wheel 14 and its rotating shaft 17 are mounted on a force sensor, which can be a strain gauge force sensor. The rotating shaft 17 cooperates with the support frame 16, and the third guide wheel 14 is rotatably mounted on the rotating shaft 17. When the third guide wheel 14 is subjected to the force of the rope 21, the force of the third guide wheel 14 is transmitted to the force sensor through the rotating shaft 17. The measuring circuit converts the force signal from the force sensor into an electrical signal and transmits it to the signal conditioning module 31. The signal conditioning module 31 filters, amplifies, and conditions the electrical signal before outputting it to measure the real-time tension of the rope 21 under large changes in angle in three-dimensional space. This provides a rope 21 tension feedback signal for the subsequent winding and unwinding system to control the winding of the drum 2, thereby achieving state control of the loaded mechanism.

[0050] Preferably, in this embodiment, the tension-sensitive structure includes a force sensor for measuring the force of the rope 21 on at least one of the guide wheels.

[0051] like Figure 1 As shown, in this embodiment, the second guide wheel 13, the third guide wheel 14 and the fourth guide wheel 15 are arranged in a regular manner, so that the projection of the rope 21 in the vertical plane at the axis of the third guide wheel 14 is at a set angle.

[0052] Specifically, in this embodiment, the height of the third guide wheel 14 is set higher than that of the second guide wheel 13 and the fourth guide wheel 15. At this time, the rope 21 passes under the second guide wheel 13 and out from the top of the third guide wheel 14, and then passes over the top of the fourth guide wheel 15 to connect the load. By limiting the way the rope 21 is wound on the second and third guide wheels, the rope 21 forms a stable and clear force on the third guide wheel 14.

[0053] In this embodiment, the third guide wheel 14, the second guide wheel 13, and the fourth guide wheel 15 are arranged in parallel space, such that the projection of the rope 21 in the vertical plane along the axis of the third guide wheel 14 is 120°. With this arrangement, the force exerted by the rope 21 on the third guide wheel 14 can be reflected in the force sensor at a 1:1 ratio. This transforms the rope 21 tension measurement into a more accurate force measurement, simplifies the measurement logic, and improves the sensitivity and accuracy of the tension measurement.

[0054] Of course, in other embodiments, the height of the third guide wheel 14 can be lower than the height of the second guide wheel 13, and the projection of the rope 21 in the vertical plane at the axis of the third guide wheel 14 can also be at other angles. In this case, accurate measurement data can be obtained by using the force sensor signal and conversion formula.

[0055] Preferably, in this embodiment, a mounting cavity 18 is provided in the middle of the base 11, the signal conditioning module 31 is arranged in the mounting cavity 18, and the tension sensitive structure extends from one side of the mounting cavity 18 and is connected to the corresponding guide wheel.

[0056] Specifically, such as Figure 1 , 2 As shown, the mounting cavity 18 and the guide assembly 1 are arranged at intervals in the left and right directions. The signal conditioning module 31 is arranged entirely in the mounting cavity 18 and fastened with screws. An electrical connector 32 extending out of the mounting cavity 18 is provided on the rear side of the signal conditioning module 31 for connecting and outputting signals to the outside.

[0057] Specifically, in this embodiment, the signal conditioning module 31 can use a dedicated Wheatstone bridge measurement module to perform signal filtering, amplification, and conditioning. In other embodiments, the signal conditioning module 31 can also be implemented using other existing modules, as long as they can achieve the functions of signal filtering, amplification, and conditioning, and meet the requirements for processing the measurement signal; no restrictions are imposed here.

[0058] The signal line of the force sensor is built into the left side of the mounting cavity 18 and the tension-sensitive structure, realizing the electrical connection between the Wheatstone bridge in the tension-sensitive structure and the signal conditioning module 31.

[0059] Specifically, in this embodiment, the measurement circuit is a Wheatstone bridge. The Wheatstone bridge features high sensitivity and high stability, accurately converting the mechanical signals sensed by the tension-sensitive structure into electrical signals. It also has excellent resolution of minute mechanical changes, capturing subtle fluctuations in the tension of the rope 21. Combined with the low-friction guide component 1, it achieves a high-precision measurement accuracy better than 0.02%. Furthermore, the Wheatstone bridge has strong anti-interference capabilities; its all-metal shielding structure and electromagnetic protection design reduce interference from electromagnetic factors in the working environment, ensuring the accuracy and stability of the measurement.

[0060] Preferably, in this embodiment, each guide wheel has an annular guide groove on its outer cylindrical circumference and a set of rolling bearings inside, thereby achieving micro-friction for guidance.

[0061] Specifically, the annular groove is a V-groove, and each guide wheel is a V-shaped wheel. The V-shaped guide wheels provide axial restraint for the rope 21, preventing axial slippage and ensuring stable force transmission from the rope 21 to the guide wheels, thus avoiding measurement errors caused by poor contact.

[0062] The first guide wheel 12 can be a V-shaped flat bottom or other structural form. The guide unit also includes an anti-detachment structure, which is used to prevent the rope 21 from jumping off the guide wheel and to achieve reliable guidance.

[0063] Specifically, in this embodiment, such as Figure 1 As shown, the support frames 16 of the first guide wheel 12, the third guide wheel 14, and the fourth guide wheel 15 are equipped with anti-derailment baffles at the positions where the rope 21 passes through. The inner side of the anti-derailment baffle is in clearance fit with the rope 21 to prevent the rope from slipping. The lower end of the second guide wheel 13 is in clearance fit with the base 11, forming an anti-derailment structure at the rope position of the second guide wheel 13.

[0064] The method of using the high-precision spatial three-dimensional rope tension measuring device of the present invention is as follows: First, arrange the drum 2 and the base 11 according to the measurement requirements, with the drum 2 in front of the base 11, and the axis of the drum 2 and the axis of the second guide wheel 13 arranged at the specified angle.

[0065] Adjust the spatial angle of the support frame 16 of the first guide wheel 12 so that the guide surface of the first guide wheel 12 is aligned with the drum 2.

[0066] The rope 21 on the drum 2 passes through the right side of the first guide wheel 12, then through the underside of the second guide wheel 13, then passes through the top of the third guide wheel 14 and the fourth guide wheel 15 in sequence, and extends downward to connect to the tension load.

[0067] As the drum 2 winds up and down, the rope 21 winds and wraps around the drum 2 and changes its three-dimensional spatial position, forming a three-dimensional variable structure.

[0068] When the drum 2 is wound up and down, the rope 21 rotates and wraps around the drum 2, causing the rope 21 from the guide component 1 to the drum 2 to change significantly in three-dimensional space. The guide component 1 is used to reliably guide the rope 21 with micro-friction force to change its orientation significantly in three-dimensional space.

[0069] The tension of rope 21 is transmitted to the force sensor through the third guide wheel 14 and acquired by the signal conditioning module 31 through the measurement circuit. After processing the force signal, the signal conditioning module 31 outputs it to the outside through the electrical connector 32, displaying the tension change of rope 21 in real time. The measuring mechanism 3 is used to realize high-precision measurement of the tension of rope 21 with large changes in three-dimensional spatial orientation.

[0070] Meanwhile, the measuring device of the present invention occupies little space, is easy to assemble and disassemble, and can keep its weight within 600g, meeting the requirements of lightweight, integrated, and high-precision reliable measurement. In summary, the high-precision three-dimensional rope tension measuring device of the present invention, through the integrated design of the guide component 1 and the measuring mechanism 3, simplifies the guide nodes to four locations, achieving a compact structure, light weight, and convenient assembly and disassembly, and significantly reducing the friction of the rope 21 guide. Combined with a highly sensitive tension-sensitive structure, a Wheatstone bridge measuring circuit, and a micro-friction guide mechanism, it achieves high-precision and reliable measurement of the rope 21 tension in any direction and with significantly varying angles in three-dimensional space. Simultaneously, the signal conditioning module 31 enables the conditioning and control feedback of the tension signal, providing a reliable basis for the motion control of the release and take-up system.

[0071] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of the claims of this invention.

Claims

1. A high-precision spatial three-dimensional rope tension measuring device, characterized in that, It includes a guide assembly (1), a drum (2), and a measuring mechanism (3); The drum (2) is arranged in front of the guide assembly (1); the guide assembly (1) includes a base (11), a guide unit and a measuring unit; the guide unit includes a first guide wheel (12), a second guide wheel (13), a third guide wheel (14) and a fourth guide wheel (15) in sequence from front to back, wherein the axes of the second guide wheel (13), the third guide wheel (14) and the fourth guide wheel (15) are arranged in parallel, the first guide wheel (12) is arranged in a predetermined position of the second guide wheel (13), the axis of the first guide wheel (12) is at a predetermined angle to the axis of the second guide wheel (13), and the guide surface of the first guide wheel (12) is arranged facing the drum (2); The rope (21) on the drum (2) passes through each guide wheel in sequence and extends downward to connect to the load; the measuring mechanism (3) is used to measure the tension of the rope (21).

2. The high-precision spatial three-dimensional rope tension measuring device according to claim 1, characterized in that, The second guide wheel (13), the third guide wheel (14) and the fourth guide wheel (15) are arranged in a regular manner so that the projection of the rope (21) in the vertical plane at the axis of the third guide wheel (14) is at a set angle.

3. The high-precision spatial three-dimensional rope tension measuring device according to claim 2, characterized in that, The rope (21) passes under the second guide wheel (13) and out over the third guide wheel (14), and the measuring mechanism (3) is used to measure the force of the rope (21) on the third guide wheel (14).

4. The high-precision spatial three-dimensional rope tension measuring device according to claim 1, characterized in that, The axis of the drum (2) is arranged in a specified direction, and the axis of the drum (2) and the axis of the second guide wheel (13) are arranged at a specified angle.

5. The high-precision spatial three-dimensional rope tension measuring device according to claim 1, characterized in that, The measuring mechanism (3) includes a tension-sensitive structure, a measuring circuit, and a signal conditioning module (31). The measuring circuit obtains a tension signal based on the tension-sensitive structure, and the signal conditioning module (31) is used to provide a precision power supply to the measuring circuit and to filter and amplify the tension signal.

6. The high-precision spatial three-dimensional rope tension measuring device according to claim 5, characterized in that, The tension-sensitive structure includes a force sensor for measuring the force exerted by the rope (21) on at least one of the guide wheels.

7. The high-precision spatial three-dimensional rope tension measuring device according to claim 6, characterized in that, The base (11) has a mounting cavity (18) in the middle, the signal conditioning module (31) is arranged in the mounting cavity (18), and the tension sensitive structure extends from one side of the mounting cavity (18) and is connected to the corresponding guide wheel.

8. The high-precision spatial three-dimensional rope tension measuring device according to claim 6, characterized in that, The measurement circuit is a Wheatstone bridge.

9. The high-precision spatial three-dimensional rope tension measuring device according to claim 1, characterized in that, Each guide wheel has an annular guide groove on its outer cylindrical circumference and a set of rolling bearings inside, which realizes micro-friction for guidance.

10. The high-precision spatial three-dimensional rope tension measuring device according to claim 1, characterized in that, Each of the guide wheels is a V-shaped wheel, and the first guide wheel (12) may be a V-shaped flat bottom structure. The guide unit also includes an anti-detachment structure, which is used to prevent the rope (21) from jumping off the guide wheel and to achieve reliable guidance.

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