A high-precision synchronous rope winding device integrating a lever-type tension detection system

Abstract

This utility model discloses a high-precision synchronous rope winding device integrating a lever-type tension detection system. It includes a servo motor with an active synchronous pulley fixed to its output shaft. The active synchronous pulley is connected to a driven synchronous pulley via a synchronous belt. The driven synchronous pulley is fixed to a transmission shaft. A drum and an active spur gear are also fixed to the transmission shaft. The active spur gear meshes with the driven spur gear, which is fixed to a lead screw. The lead screw is parallel to the drum and engages with a lead screw nut. The lead screw nut is fixedly connected to a synchronous moving mechanism, which is fixedly connected to a lever-type tension detection mechanism. This device effectively solves the problems of rope exit point variation and the difficulty in mathematically describing the rope exit point in rope-driven parallel robots during operation; it also effectively solves the rope length error problem caused by the system structure itself; and it provides a calculation basis for the elastic deformation of the rope due to tension. Furthermore, it has a compact structure and is highly replaceable.

Description

Technical Field

[0001] This utility model relates to the field of rope-driven parallel robots, specifically to a high-precision synchronous rope winding device with an integrated lever-type tension detection system. Background Technology

[0002] Rope-driven parallel robots are parallel mechanisms that use flexible ropes as transmission elements, with multiple actuators working together to transmit force to the end effector via the ropes. By controlling the rope length contraction, rope-driven parallel robots achieve pose control of the end effector within a feasible workspace, offering advantages such as high precision, high load capacity, and large workspace. They are currently widely used in lifting and handling, motion simulation, and medical rehabilitation. To meet the high-precision control requirements of rope-driven parallel robots, the rope exit point must be a fixed point that can be accurately calculated. During system operation, precise rope arrangement must be ensured during rope winding. Ropes deform due to tension, so accurate measurement of rope length requires rope tension detection. Traditional rope winding devices often have non-fixed exit points or only consider static exit points, making the point variation under different working conditions difficult to describe mathematically. Relying solely on drum rotation during rope winding leads to uneven rope arrangement, resulting in inconsistent rope lengths with each turn. These factors cause calculation errors in rope variation, thus affecting the motion accuracy of the rope-driven parallel robot. Traditional rope winding devices either lack tension measuring devices or are installed externally, resulting in a bulky overall structure and reduced space utilization. Utility Model Content

[0003] This invention provides a high-precision synchronous rope winding device integrating a lever-type tension detection system, applicable to rope-driven parallel robots. It effectively solves the problems of rope exit point variation and the difficulty in mathematically describing the rope exit point during operation. Furthermore, the synchronous rope winding method ensures precise rope arrangement, effectively addressing rope length errors caused by the system structure itself. The integrated lever-type tension detection system provides a calculation basis for the elastic deformation of the rope due to tension, and the compact structure effectively reduces the device's size.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A high-precision synchronous rope winding device integrating a lever-type tension detection system includes a base plate and a drive mechanism mounted on the base plate. The output shaft of the drive mechanism is connected to an electromagnetic brake via an external shaft. A driving synchronous pulley is fixedly mounted on the output shaft of the drive mechanism. The driving synchronous pulley is connected to a driven synchronous pulley via a synchronous belt. The driven synchronous pulley is fixedly mounted on a transmission main shaft. A rope winding mechanism and a driving spur gear are also fixedly mounted on the transmission main shaft. The driving spur gear meshes with the driven spur gear. The driven spur gear is fixedly mounted on a lead screw. The lead screw is parallel to the rope winding mechanism and cooperates with a lead screw nut. The lead screw nut is fixedly connected to a synchronous moving mechanism, and the synchronous moving mechanism is fixedly connected to the lever-type tension detection mechanism.

[0006] As a preferred embodiment of the above solution, the drive mechanism adopts a servo motor, which is fixed to the base plate by a mounting plate, and the output shaft of the servo motor is connected to an external shaft through a flexible coupling.

[0007] As a preferred embodiment of the above solution, the vertical bearing housing is mounted on the base plate via a bearing housing mounting base.

[0008] As a preferred embodiment of the above solution, the electromagnetic brake is mounted on the base plate via an electromagnetic brake mounting base.

[0009] As a preferred embodiment of the above scheme, the transmission spindle and the lead screw are mounted on the support base via four flange-type bearing seats, and are fixed to the base plate by the support base.

[0010] As a preferred embodiment of the above scheme, guide rods are arranged parallel to each other on both sides of the lead screw, the ends of the guide rods are fixed on the support base, and the guide rods are slidably connected to the synchronous moving mechanism.

[0011] As a preferred embodiment of the above solution, a self-lubricating bushing is provided between the guide rod and the synchronous moving mechanism, the guide rod and the self-lubricating bushing are slidably connected, and the self-lubricating bushing is fixedly connected to the synchronous moving mechanism.

[0012] As a preferred embodiment of the above solution, the synchronous moving mechanism includes a synchronous moving plate, which has a symmetrical structure, a screw nut mounting hole in the middle and is connected to the screw nut flange, self-lubricating bushing mounting holes on both sides, and an arched structure in the lower middle part.

[0013] As a preferred embodiment of the above solution, the rope winding mechanism includes a drum and a guide pulley. A rope is wound on the drum, and the rope is finally discharged through the guide pulley after passing through a lever-type tension detection mechanism. The guide pulley is fixedly installed on the support base.

[0014] As a preferred embodiment of the above scheme, the lever-type tension detection mechanism consists of two lever structure connecting plates as levers, a lever structure support block providing a fulcrum, a lever structure guide pulley guiding the rope and bearing the rope pressure, a pressure sensor connecting block connected to the pressure sensor through a threaded hole, and all components connected by pins. The lever structure support block is fixedly connected to the synchronous moving plate.

[0015] Due to the above structure, the beneficial effects of this utility model are as follows:

[0016] This device is easily reconfigurable, highly replaceable, compact in structure, precise in transmission, and offers high safety protection. It effectively solves the problems of rope exit point variation and the difficulty in mathematically describing the rope exit point in rope-driven parallel robots. Furthermore, it employs a synchronous rope winding method for precise rope arrangement, effectively addressing rope length errors caused by the system structure itself. It also integrates a lever-type tension detection system to provide calculation data for the elastic deformation of the rope due to tension, and its compact structure effectively reduces the device's size. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the synchronous movement mechanism of this utility model.

[0020] Figure 3 This is a schematic diagram of the lever-type tension detection mechanism of this utility model. Detailed Implementation

[0021] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0022] like Figure 1As shown, this embodiment provides a high-precision synchronous rope winding device integrating a lever-type tension detection system, including a base plate 26 and a drive mechanism 7 mounted on the base plate 26. The output shaft of the drive mechanism 7 is connected to an electromagnetic brake 14 via an external shaft 11. An active synchronous pulley 9 is fixedly mounted on the output shaft of the drive mechanism 7. The active synchronous pulley 9 is connected to a driven synchronous pulley 18 via a synchronous belt 17. The driven synchronous pulley 18 is fixedly mounted on a transmission main shaft 19. A rope winding mechanism and an active spur gear 27 are also fixedly mounted on the transmission main shaft 19. The active spur gear 27 meshes with a driven spur gear 1. The driven spur gear 1 is fixedly mounted on a lead screw 3. The lead screw 3 is parallel to the rope winding mechanism and cooperates with a lead screw nut 6. The lead screw nut 6 is fixedly connected to a synchronous moving mechanism 5. The synchronous moving mechanism 5 is fixedly connected to a lever-type tension detection mechanism 22.

[0023] In this embodiment, the drive mechanism 7 is a servo motor, which is fixed to the base plate 26 by the mounting plate 16, and the output shaft of the servo motor is connected to the external shaft 11 by the flexible coupling 10.

[0024] In this embodiment, the vertical bearing seat 12 is mounted on the base plate 26 via the bearing seat mounting base 13.

[0025] In this embodiment, the electromagnetic brake 14 is mounted on the base plate 26 via the electromagnetic brake mounting base 15.

[0026] In this embodiment, the transmission spindle 19 and the lead screw 3 are mounted on the support base 20 through four flange-type bearing seats 8, and are fixed to the base plate 26 through the support base 20.

[0027] In this embodiment, guide rods 25 are arranged parallel to each other on both sides of the lead screw 3. The ends of the guide rods 25 are fixed on the support base 20, and the guide rods 25 are slidably connected to the synchronous moving mechanism 5.

[0028] In this embodiment, a self-lubricating bushing 21 is provided between the guide rod 25 and the synchronous moving mechanism 5. The guide rod 25 and the self-lubricating bushing 21 are slidably connected, and the self-lubricating bushing 21 is fixedly connected to the synchronous moving mechanism 5.

[0029] In this embodiment, as Figure 2 As shown, the synchronous moving mechanism 5 includes a synchronous moving plate, which has a symmetrical structure, a screw nut mounting hole in the middle and is connected to the screw nut 6 flange, self-lubricating bushing mounting holes on both sides, and an arched structure in the lower middle part.

[0030] In this embodiment, the rope winding mechanism includes a drum 23 and a guide pulley 2. A rope 24 is wound on the drum 23. The rope 24 is led out through the guide pulley 2 after passing through the lever-type tension detection mechanism 22. The guide pulley 2 is fixedly installed on the support base 20.

[0031] In this embodiment, as Figure 3 As shown, the lever-type tension detection mechanism 22 uses two lever structure connecting plates 2202 as levers, and the lever structure support block 2204 provides the fulcrum. The lever structure guide pulley 2205 guides the rope 24 and bears the rope pressure. The pressure sensor connecting block 2203 is connected to the pressure sensor 4 through a threaded hole. All components are connected by a pin 2201. The lever structure support block 2204 is fixedly connected to the synchronous moving plate 5.

[0032] The working principle of the above structure:

[0033] When the servo motor 7 starts working, the motor output shaft drives the synchronous belt 17, which meshes with it, through the key-connected driving synchronous pulley 9. The synchronous belt 17 then drives the driven synchronous pulley 18 to rotate, which in turn drives the key-connected transmission shaft 19 to rotate. The transmission shaft 19 drives the spline-connected drum 23 to rotate. Simultaneously, the transmission shaft 19 drives the key-connected driving spur gear 27 to rotate. The driving spur gear 27 meshes with and drives the driven spur gear 1 to rotate. The driven spur gear 1 drives the key-connected lead screw 3 to rotate, which then rotates through the mating lead screw nut 6. The rotation is converted into horizontal displacement. The lead screw nut 6 drives the synchronous moving mechanism 5, which is connected to it via a flange, to perform horizontal displacement. Two guide rods 25 on both sides provide horizontal support, ensuring that the synchronous moving mechanism 5 maintains its posture during horizontal displacement. The synchronous moving mechanism 5 drives the lever-type tension detection mechanism 22, which is fixed to it, to perform synchronous horizontal displacement. One end of the rope 24 is fixed to one end of the drum 23, and the other end of the rope 24 enters vertically upward from the side of the drum 23 into the lever structure guide pulley 2205 of the lever-type tension detection mechanism 22, and then enters horizontally into the guide pulley 2. The rope 24 is then discharged through the guide pulley 2, which simultaneously secures the device. The rope 24 is led out at a specific point, and the leading point is easy to calculate. The drum 23 winds the rope 24 around its surface through rotation. Because the drum 23 and the lead screw 3 are connected by a 1:1 transmission ratio between the driving spur gear 27 and the driven spur gear 1, the synchronous movement mechanism 5 can be synchronized. The synchronous movement mechanism 5 pulls the rope 24 horizontally, which, in conjunction with the rotation of the drum 23, ensures the precise arrangement of the rope 24 on the drum 23. The lever-type tension detection mechanism 22 transmits the pressure of the rope 24 on the lever structure guide pulley 2205 to the pressure sensor 4 through the lever principle. The force is analyzed and calculated to achieve real-time detection of the tension of the rope 24. The lever-type tension detection mechanism 22 can adjust the lever arm and fulcrum position by modifying the position of the lever structure connecting plate 2202 and the lever structure support block 2204, thereby amplifying or reducing the measurement range of the pressure sensor 4. The lever structure is relatively compact and can effectively save space. The motor output shaft is fixedly connected to the external shaft 11 through the flexible coupling 10. The vertical bearing seat 12 provides support for the external shaft 11. The electromagnetic brake 14 is fixedly connected to the external shaft 11, thereby enabling the electromagnetic brake 14 to provide further safety assurance for the system operation.

[0034] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A high-precision synchronous rope winding device integrating a lever-type tension detection system, characterized in that: The system includes a base plate and a drive mechanism mounted on the base plate. The output shaft of the drive mechanism is connected to an electromagnetic brake via an external shaft. A driving synchronous pulley is fixedly mounted on the output shaft of the drive mechanism. The driving synchronous pulley is connected to a driven synchronous pulley via a synchronous belt. The driven synchronous pulley is fixedly mounted on a transmission main shaft. A rope winding mechanism and a driving spur gear are also fixedly mounted on the transmission main shaft. The driving spur gear meshes with the driven spur gear. The driven spur gear is fixedly mounted on a lead screw. The lead screw is parallel to the rope winding mechanism and cooperates with a lead screw nut. The lead screw nut is fixedly connected to a synchronous moving mechanism. The synchronous moving mechanism is fixedly connected to a lever-type tension detection mechanism.

2. The high-precision synchronous rope winding device of the integrated lever-type tension detection system according to claim 1, characterized in that: The drive mechanism uses a servo motor, which is fixed to the base plate by a mounting plate. The output shaft of the servo motor is connected to an external shaft through a flexible coupling.

3. The high-precision synchronous rope winding device of the integrated lever-type tension detection system according to claim 1, characterized in that: The vertical bearing housing is mounted on the base plate via a bearing housing mounting base.

4. The high-precision synchronous rope winding device of the integrated lever-type tension detection system according to claim 1, characterized in that: The electromagnetic brake is mounted on the base plate via an electromagnetic brake mounting base.

5. The high-precision synchronous rope winding device of the integrated lever-type tension detection system according to claim 1, characterized in that: The transmission spindle and lead screw are mounted on the support base via four flange-type bearing seats and fixed to the base plate by the support base.

6. The high-precision synchronous rope winding device of the integrated lever-type tension detection system according to claim 1, characterized in that: Guide rods are arranged parallel to each other on both sides of the lead screw. The ends of the guide rods are fixed on the support base and are slidably connected to the synchronous moving mechanism.

7. The high-precision synchronous rope winding device of the integrated lever-type tension detection system according to claim 6, characterized in that: A self-lubricating bushing is provided between the guide rod and the synchronous moving mechanism. The guide rod and the self-lubricating bushing are slidably connected, and the self-lubricating bushing is fixedly connected to the synchronous moving mechanism.

8. The high-precision synchronous rope winding device of the integrated lever-type tension detection system according to claim 1, characterized in that: The synchronous moving mechanism includes a synchronous moving plate, which has a symmetrical structure, a screw nut mounting hole in the middle and is connected to the screw nut flange, self-lubricating bushing mounting holes on both sides, and an arched structure in the lower middle part.

9. The high-precision synchronous rope winding device of the integrated lever-type tension detection system according to claim 1, characterized in that: The rope winding mechanism includes a drum and a guide pulley. A rope is wound on the drum. The rope passes through a lever-type tension detection mechanism and is finally discharged through the guide pulley. The guide pulley is fixedly installed on a support base.

10. The high-precision synchronous rope winding device of the integrated lever-type tension detection system according to claim 1, characterized in that: The lever-type tension detection mechanism consists of two lever structure connecting plates as levers, with a lever structure support block providing the fulcrum. The lever structure guide pulley guides the rope and bears the rope pressure. The pressure sensor connecting block is connected to the pressure sensor through a threaded hole. All components are connected by pins. The lever structure support block is fixedly connected to the synchronous moving plate.

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