CN114633252B - Rope-driven joint pretightening force adjusting device - Google Patents
Rope-driven joint pretightening force adjusting device Download PDFInfo
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- CN114633252B CN114633252B CN202210298622.1A CN202210298622A CN114633252B CN 114633252 B CN114633252 B CN 114633252B CN 202210298622 A CN202210298622 A CN 202210298622A CN 114633252 B CN114633252 B CN 114633252B
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- 230000036316 preload Effects 0.000 claims description 15
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 2
- 239000003381 stabilizer Substances 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 19
- 238000009434 installation Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a rope-driven joint pretightening force adjusting device, which comprises a frame; the force measuring assembly comprises an adjusting piece and a force measuring piece, the adjusting piece is arranged on the rack, and the adjusting piece is used for adjusting the position of the force measuring piece; the movable pulley assembly comprises a plurality of pulley blocks which are arranged step by step in an exponential increasing manner, each pulley block comprises a movable pulley around which a rope is wound and a pulley frame, the movable pulleys are rotatably arranged on the pulley frames, two ends of each pulley block rope are respectively connected with the pulley frame of the next-stage pulley block, the pulley frame of the first-stage pulley block is connected with the reading end of the force measuring piece, and two ends of each pulley block rope of the last stage are respectively connected with a driving rope; and the fixed pulley assembly is arranged on the frame and used for guiding the driving rope. The adjusting device can simultaneously measure and adjust the pretightening force of a plurality of driving ropes, simplifies the adjusting process of the pretightening force of the driving ropes, can improve the installation efficiency of equipment, and is suitable for practicality.
Description
Technical Field
The invention relates to the technical field of rope-driven joint pretightening force adjusting devices, in particular to a rope-driven joint pretightening force adjusting device.
Background
The rope driving technology is considered as an important method for reducing the weight of the mechanical arm and improving the flexibility and the safety of the mechanical arm, and the rope driving joint structure can carry out long-distance power transmission, so that the weight and the volume of the mechanical arm can be reduced, and the safety of equipment is improved; the rope transmission does not need lubrication, the transmission efficiency is higher, the transmission efficiency is closer to tendon transmission of a human arm, the transmission efficiency is good, the simulation performance is good, and the transmission efficiency is closer to that of organism movement, so that the rope driving joint is often used for realizing multi-degree-of-freedom rotation of the manipulator;
in the process of installing the manipulator, setting the pretightening force of the driving rope is a very critical link; the common method for adjusting the pretightening force of the driving ropes is to adjust and keep the mechanical arm in a straight state, and then sequentially adjust the pretightening force of each driving rope to ensure that the pretightening force of each rope is basically equal and the force is within a set interval. However, in the existing adjusting device, the pretightening force setting process is mostly to sequentially adjust the pretightening force of each driving rope to make the pretightening force within a required range, then finely adjust each driving rope to make the pretightening force of each driving rope basically equal, and the adjustment of each driving rope is required to be repeated, so that the installation efficiency is low.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the problems that in the prior art, the pretightening force setting process of the adjusting device is mainly realized by sequentially adjusting the pretightening force of each driving rope to enable the pretightening force to be in a required range, then finely adjusting each driving rope to enable the pretightening force of each driving rope to be basically equal, the driving ropes are required to be adjusted repeatedly, the operation process is complex, and the installation efficiency is low; the invention provides a rope driving joint pretightening force adjusting device which can simultaneously measure and adjust pretightening forces of a plurality of driving ropes, simplifies the adjusting process of pretightening forces of the driving ropes and can improve the efficiency of equipment installation.
In order to solve the technical problems, the invention provides a rope-driven joint pretightening force adjusting device, which comprises,
a frame;
the force measuring assembly comprises an adjusting piece and a force measuring piece, the adjusting piece is arranged on the rack, the force measuring piece is arranged on the adjusting piece, and the adjusting piece is used for adjusting the position of the force measuring piece;
the movable pulley assembly comprises a plurality of pulley blocks, each pulley block comprises a movable pulley around which a rope is wound and a pulley frame, the movable pulley is rotatably arranged on the pulley frame, one pulley block connected with the reading end of the force measuring piece is used as a first-stage pulley block, a plurality of pulley blocks connected with the driving rope are used as a last-stage pulley block, a plurality of stages of pulley blocks are arranged between the first-stage pulley block and the last-stage pulley block and used as intermediate-stage pulley blocks, the intermediate-stage pulley block at least comprises a second-stage pulley block, the second-stage pulley block comprises two pulley blocks, the two pulley blocks of the second-stage pulley block are respectively connected with two ends of the rope of the first-stage pulley block, and the last-stage pulley block are connected in the connecting modeThe pulley blocks are connected, and the number of the pulley blocks at each stage is 2 in sequence n-1 N is a positive integer and n is the number of stages of the corresponding stage;
the fixed pulley assembly is provided with a plurality of fixed pulley assemblies, the fixed pulley assembly is arranged on the frame, and the fixed pulley assembly is used for guiding a driving rope connected with the movable pulley assembly.
In one embodiment of the invention, the adjusting piece comprises a support and a sliding table, a plurality of horizontal guide rails are symmetrically arranged on the support, a screw rod parallel to the guide rails is rotationally arranged on the support, the sliding table is slidingly arranged on the guide rails and is movably connected with the screw rod through a threaded hole arranged on the sliding table, one end of the screw rod is connected with a hand wheel, and the hand wheel drives the screw rod to rotate so as to drive the sliding table to move along the guide rails.
In one embodiment of the invention, the pulley block further comprises a sliding rail and a sliding block, the sliding rail is arranged on the frame in parallel to the sliding rail, and the pulley frame is arranged on the sliding rail in a sliding way through the sliding block.
In one embodiment of the invention, the force measuring piece is an electronic force measuring piece, the force measuring piece is horizontally arranged on the sliding table along the length direction of the guide rail, the reading end of the force measuring piece is connected with the pulley frame of the first-stage pulley block through a connecting rope, and the connecting rope and each rope move in the same horizontal plane.
In one embodiment of the invention, the pulley frames of the first pulley block are connected with the reading end of the force measuring piece, and the pulley frames of the two pulley blocks of the second pulley block are respectively connected with two ends of the first pulley block rope.
In one embodiment of the invention, the fixed pulley assembly comprises a shaft seat, a rotating shaft and a pulley, wherein the shaft seat is vertically arranged on the frame, the rotating shaft is coaxially arranged at the top of the shaft seat, and the pulley is rotatably arranged on the rotating shaft.
In one embodiment of the invention, the frame is further provided with an empty fixing frame, and the empty fixing frame is used for fixing ropes which are not connected with the driving ropes in the last stage pulley block.
In one embodiment of the invention, the frame comprises a base plate, a plurality of supporting feet with adjustable heights are symmetrically arranged at the bottom of the base plate, the force measuring assembly is arranged on the base plate, and a U-shaped bracket is further arranged at the top of the base plate and used for bearing the movable pulley assembly and the fixed pulley assembly.
In one embodiment of the invention, each pulley frame is provided with a rope fixing member for quick connection of the rope to the pulley frame.
In one embodiment of the invention, the travelling block assembly and the force measuring assembly move on the same straight line.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the rope driving joint pretightening force adjusting device, the movable pulley assembly formed by the plurality of pulley blocks which are arranged step by step in an index increasing mode is arranged, so that the pulley assembly can be expanded or reduced according to the number of driving ropes which are connected and adjusted according to actual needs, and the force on each driving rope connected with the movable pulley assembly can be kept consistent; the magnitude of the pretightening force on each driving rope can be calculated by combining the pulling force indication number on the force measuring piece in the force measuring assembly, and the pretightening force can be adjusted according to actual conditions; meanwhile, the fixed pulley assembly is also arranged to guide the driving ropes, so that the interference among the driving ropes is reduced, and the smooth running of the pretightening force adjusting process of the driving ropes is ensured; the whole device has simple structure, convenient operation and practicability.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which
FIG. 1 is a schematic view of the overall structure of a rope-driven joint preload adjustment apparatus in a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of a force measuring assembly of the rope driven joint preload adjustment apparatus of FIG. 1;
FIG. 3 is a schematic view of a movable pulley assembly of the rope-driven joint preload adjustment apparatus of FIG. 1;
FIG. 4 is a schematic view of a pulley block of the rope driven joint preload adjustment apparatus of FIG. 1;
FIG. 5 is a schematic view of a fixed sheave assembly of the rope driven joint preload adjustment apparatus of FIG. 1;
FIG. 6 is a schematic view of a first connection between a fixing frame and an empty rope in a second embodiment of the invention;
FIG. 7 is a schematic view of a second connection between a fixing frame and an empty rope in a second embodiment of the present invention;
FIG. 8 is a schematic view of a first construction of the apparatus according to a third embodiment of the present invention;
fig. 9 is a schematic diagram of a second construction of the apparatus according to the fourth embodiment of the present invention.
Description of the specification reference numerals: 1. a frame; 11. a substrate; 12. a support leg; 13. a U-shaped bracket; 14. an empty fixing frame is arranged; 15. a guide wheel; 2. a force measuring assembly; 21. an adjusting member; 211. a bracket; 212. a sliding table; 213. a guide rail; 214. a screw rod; 215. a hand wheel; 22. a force measuring member; 221. a connecting rope; 3. a movable pulley assembly; 31. pulley block; 311. a movable pulley; 312. a pulley frame; 313. a slide rail; 314. a slide block; 315. a rope fixing member; 4. a fixed pulley assembly; 41. a shaft seat; 42. a rotating shaft; 43. a pulley; 5. and (5) a weight.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Example 1
Referring to fig. 1 to 5, a rope-driven joint preload adjusting apparatus of the present invention includes,
a frame 1;
the force measuring assembly 2, the force measuring assembly 2 comprises an adjusting piece 21 and a force measuring piece 22, the adjusting piece 21 is arranged on the frame 1, the force measuring piece 22 is arranged on the adjusting piece 21, and the adjusting piece 21 is used for adjusting the position of the force measuring piece 22;
the movable pulley assembly 3, the movable pulley assembly 3 includes a plurality of pulley blocks 31, the pulley blocks 31 include the movable pulley 311 and pulley frame 312 around which the rope winds, the movable pulley 311 rotates and sets up on the pulley frame 312, wherein, one pulley block 31 connected with the reading end of the force measuring piece 22 is regarded as the first-stage pulley block, a plurality of pulley blocks 31 connected with the driving rope are regarded as the last-stage pulley block, and be provided with the multistage pulley block between first-stage pulley block and the last-stage pulley block and regard as the intermediate-stage pulley block, the intermediate-stage pulley block includes the second-stage pulley block at least, the second-stage pulley block includes two pulley blocks 31, two pulley blocks 31 of the second-stage pulley block are connected at the both ends of the rope of the first-stage pulley block respectively, until the last-stage pulley block is connected with the pulley block 31 of its last-stage according to this connected mode, the quantity of each stage pulley block 31 is 2 in proper order n-1 N is a positive integer and n is the number of stages of the corresponding stage;
the fixed pulley assemblies 4, the fixed pulley assemblies 4 are provided with a plurality of, the fixed pulley assemblies 4 are arranged on the frame 1, and the fixed pulley assemblies 4 are used for guiding driving ropes connected with the movable pulley assemblies 3.
In particular, the load cell 22 may be a load cell, spring balance, or the like; the number of the fixed pulley assemblies 4 corresponds to the number of the driving ropes connected with the pulley block at the last stage. And it should be noted that during adjustment of the drive ropes, it is necessary to ensure that the respective pulley blocks 31 move in the same horizontal plane.
Specifically, the pulley blocks 31 are arranged in an exponentially increasing manner, wherein the number of the first-stage pulley blocks is 2 1-1 1, in particular 1; the number of the second-stage pulley blocks is 2 2-1 The number of pulley blocks 31 at each stage is 2 in turn n-1 And n is a positive integer and n is the number of stages of the corresponding stage.
It is conceivable that the number of driving ropes for pretightening force adjustment can be expanded or reduced for the movable pulley assembly 3 according to actual needs, so that the device can be connected with the driving ropes with the corresponding number, and has high universality.
Further, the adjusting piece 21 comprises a support 211 and a sliding table 212, a plurality of horizontal guide rails 213 are symmetrically arranged on the support 211, a screw rod 214 parallel to the guide rails 213 is rotatably arranged on the support 211, the sliding table 212 is slidably arranged on the guide rails 213, the sliding table 212 is movably connected with the screw rod 214 through a threaded hole formed in the sliding table 212, one end of the screw rod 214 is connected with a hand wheel 215, and the hand wheel 215 drives the screw rod 214 to rotate so as to drive the sliding table 212 to move along the guide rails 213.
Specifically, the sliding table 212 is provided with a plurality of horizontal through holes corresponding to the shape of the guide rail 213, and the sliding table 212 is slidably arranged on the guide rail 213 through the horizontal through holes and is driven to move along the guide rail 213 through the screw 214; the hand wheel 215 is coaxially arranged at one end of the screw rod 214, the screw rod 214 is driven to rotate by rotating the hand wheel 215, the rotating screw rod 214 drives the sliding table 212 to move along the guide rail 213, and meanwhile, the sliding table 212 drives the force measuring piece 22 to move, and then the movable pulley assembly 3 is pulled to move, so that the pretightening force of an externally connected driving rope is adjusted and set.
Meanwhile, it is conceivable that a quick connector can be arranged on a rope connected with an externally connected driving rope so as to improve the efficiency of the connection between the rope and the driving rope; the quick connector can adopt a rope ring structure made of aluminum buckles.
Further, the pulley block 31 further includes a sliding rail 313 and a slider 314, the sliding rail 313 is parallel to the sliding rail 213 and is disposed on the frame 1, and the pulley frame 312 is slidably disposed on the sliding rail 313 through the slider 314. Specifically, the force measuring member 22 may drive each pulley frame 312 to move smoothly along a sliding rail 313 provided at the bottom thereof; it is conceivable that the pulley frames 312 of the pulley blocks 31 at each stage are arranged on the sliding rail 313, so that each pulley block 31 can be kept stable in the moving process, and the ropes on each pulley block 31 can be moved in the same horizontal plane, so that the measured and adjusted pretightening force is more accurate and is closer to a preset value in the process of measuring and adjusting the pretightening force of the driving rope, and the accuracy of the whole adjusting process is improved. It is also conceivable that connecting the pulley blocks 31 to the slide rails 313 facilitates the adjustment of the device by the operator, improving the efficiency of the whole measuring and adjusting process.
Further, the force measuring member 22 is an electronic force measuring member, the force measuring member 22 is horizontally arranged on the sliding table 212 along the length direction of the guide rail 213, the reading end of the force measuring member 22 is connected with the pulley frame 312 of the first-stage pulley block through the connecting rope 221, and the connecting rope 221 and each rope move in the same horizontal plane. It is conceivable that the accuracy of the whole adjustment process can be improved when the connecting line 221 between the load cell 22 and the first stage pulley arrangement is able to move in the same horizontal plane as the lines on the other stages of pulley arrangements 31.
Further, the pulley frames 312 of the first pulley block are connected with the reading end of the force measuring piece 22, and the pulley frames 312 of the two pulley blocks 31 of the second pulley block are respectively connected with two ends of the first pulley block rope.
Further, the fixed pulley assembly 4 comprises a shaft seat 41, a rotating shaft 42 and a pulley 43, the shaft seat 41 is vertically arranged on the frame 1, the rotating shaft 42 is coaxially arranged at the top of the shaft seat 41, and the pulley 43 is rotatably arranged on the rotating shaft 42.
Further, the frame 1 includes a base plate 11, a plurality of height-adjustable support legs 12 are symmetrically arranged at the bottom of the base plate 11, the force measuring assembly 2 is arranged on the base plate 11, and a U-shaped bracket 13 is further arranged at the top of the base plate 11, and the U-shaped bracket 13 is used for bearing the movable pulley assembly 3 and the fixed pulley assembly 4. Specifically, the height and levelness of the base plate 11 can be adjusted by the support legs 12 which are symmetrically arranged at the bottom of the base plate 11 and can ensure that the base plate 11 is in a horizontal state; meanwhile, the U-shaped bracket 13 is arranged on the base plate 11, the movable pulley assembly 3, the fixed pulley assembly 4 and the force measuring piece 22 are positioned on a horizontal plane which is close to the height through the U-shaped bracket 13, and finally, the connecting rope 221 and the ropes on the pulley blocks 31 are ensured to move in the same horizontal plane, and the accuracy of the pretightening force measurement and the adjustment result of the driving rope is ensured.
Further, each pulley frame 312 is provided with a rope fixing member 315, and the rope fixing members 315 are used for quick connection of ropes to the pulley frames 312. It is conceivable that the rope fixing member 315 is provided on the pulley frame 312, which facilitates quick connection and disconnection between the pulley blocks 31, and also facilitates connection of the load cell 22 with the movable pulley assembly 3.
Further, the movable pulley assembly 3 and the force measuring assembly 2 move on the same straight line. It is conceivable that the movement path of the load cell 22 is constrained by the adjusting member 21, and when the load cell 22 is pulled and moves in a direction away from the movable pulley assembly 3, the ropes on the respective pulley blocks 31 are gradually tightened, and finally the center line of the movement path of the movable pulley assembly 3 and the center line of the movement of the load cell 2 are positioned on the same line, and it is necessary to ensure that the connecting rope 221 and the respective ropes move in the same horizontal plane, so as to ensure the accuracy of the adjustment and test results.
Example two
Referring to fig. 6 and 7, further, on the basis of the first embodiment, the frame 1 is further provided with an empty fixing frame 14, where the empty fixing frame 14 is used to fix a rope in the last stage pulley block, which is not connected with the driving rope.
Specifically, in the arrangement manner of the pulley block 31 described in the first embodiment, the number of driving ropes connectable to the pulley block of the last stage may be the number of driving ropes corresponding to any number of 2.4.8.16 … …, so when the number of driving ropes to be adjusted is odd or even not included in the number, it may occur that the redundant ropes are not connectable to the corresponding driving ropes; at this time, the redundant ropes are required to be fixed so as to ensure the normal operation of the adjustment process; therefore, an empty fixing frame 14 for fixing the rope which is not connected with the driving rope in the last stage pulley block is arranged on the frame 1, and the end heads of the redundant rope are connected to the empty fixing frame 14, so that the smooth proceeding of the whole adjustment process is ensured.
Referring to fig. 6 and 7, two fixing methods for fixing the redundant ropes are shown, wherein one fixing method is shown in fig. 6, and two ends of a rope on a pulley block 31 of the last stage, which is not connected with a driving rope, are connected to an empty fixing frame 14.
Another fixing method is shown in fig. 7, in which the pulley block 31 of the last stage pulley block, to which the driving rope is not connected, is removed, and the rope end between the second last stage pulley block and the removed pulley block 31 is directly connected to the empty fixing frame 14.
Example III
Referring to fig. 8, on the basis of the first embodiment, the force measuring assembly 2 in the first embodiment is replaced by weights 5 with different weights, an annular structure is arranged on each weight 5, and hooks are arranged on the connecting ropes 221 connected with the pulley frames 312 of the first-stage pulley blocks, so that the connecting ropes 221 are convenient to connect with the weights 5, and the weights 5 with different weights are convenient to replace. The whole device is arranged on the vertical direction, all levels of pulley blocks 31 which are mutually connected are vertically hung in a vertical plane by virtue of ropes, the last level of pulley blocks are connected with external driving ropes, and after the ropes are tightened, the ropes on all the pulley blocks 31 and the connecting ropes 221 connected with weights 5 are all in the same vertical plane. The above is a structural mode of the present adjusting device.
Example IV
Referring to fig. 9, on the basis of the first embodiment, the force measuring assembly 2 in the first embodiment is replaced by weights 5 with different weights, ring structures are arranged on the weights 5, hooks are arranged on connecting ropes 221 connected with pulley frames 312 of the first-stage pulley blocks, connection between the connecting ropes 221 and the weights 5 is facilitated, weights 5 with different weights are convenient to replace, a guide wheel 15 is arranged on one side, close to the first-stage pulley blocks, of the frame 1, and the guide wheel 15 guides the connecting ropes 221 connected with the first-stage pulley blocks, so that the weights 5 can be freely hung on the connecting ropes 221, and a certain tensile force is provided for the whole device.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (10)
1. The utility model provides a rope drive joint pretightning force adjusting device which characterized in that: comprising the steps of (a) a step of,
a frame;
the force measuring assembly comprises an adjusting piece and a force measuring piece, the adjusting piece is arranged on the rack, the force measuring piece is arranged on the adjusting piece, and the adjusting piece is used for adjusting the position of the force measuring piece;
the movable pulley assembly comprises a plurality of pulley blocks, each pulley block comprises a movable pulley around which a rope is wound and a pulley frame, the movable pulley is rotatably arranged on the pulley frame, one pulley block connected with the reading end of the force measuring piece is used as a first-stage pulley block, a plurality of pulley blocks connected with the driving rope are used as a last-stage pulley block, a plurality of pulley blocks are arranged between the first-stage pulley block and the last-stage pulley block and used as intermediate-stage pulley blocks, the intermediate-stage pulley block at least comprises a second-stage pulley block, the second-stage pulley block comprises two pulley blocks, the two pulley blocks of the second-stage pulley block are respectively connected with two ends of the rope of the first-stage pulley block, the last-stage pulley block is connected with the pulley block of the last stage according to the connection mode, and the number of the pulley blocks of each stage is 2 in sequence n-1 N is a positive integer and n is the number of stages of the corresponding stage;
the fixed pulley assembly is provided with a plurality of fixed pulley assemblies, the fixed pulley assembly is arranged on the frame, and the fixed pulley assembly is used for guiding the driving rope.
2. The rope-driven joint preload adjustment apparatus as defined in claim 1, wherein: the adjusting piece comprises a support and a sliding table, a plurality of horizontal guide rails are symmetrically arranged on the support, a screw rod parallel to the guide rails is rotationally arranged on the support, the sliding table is slidably arranged on the guide rails, the sliding table is movably connected with the screw rod through a threaded hole formed in the sliding table, one end of the screw rod is connected with a hand wheel, and the hand wheel drives the screw rod to rotate so as to drive the sliding table to move along the guide rails.
3. The rope-driven joint preload adjustment apparatus as defined in claim 2, wherein: the pulley block also comprises a sliding rail and a sliding block, wherein the sliding rail is arranged on the frame in parallel with the sliding rail, and the pulley frame is arranged on the sliding rail in a sliding way through the sliding block.
4. The rope-driven joint preload adjustment apparatus as defined in claim 2, wherein: the force measuring device is characterized in that the force measuring device is an electronic force measuring device, the force measuring device is horizontally arranged on the sliding table along the length direction of the guide rail, the reading end of the force measuring device is connected with the pulley frame of the first-stage pulley block through a connecting rope, and the connecting rope and each rope move in the same horizontal plane.
5. The rope-driven joint preload adjustment apparatus as defined in claim 1, wherein: the pulley frames of the first-stage pulley block are connected with the reading end of the force measuring piece, and the pulley frames of the two pulley blocks of the second-stage pulley block are respectively connected with the two ends of the first-stage pulley block rope.
6. The rope-driven joint preload adjustment apparatus as defined in claim 1, wherein: the fixed pulley assembly comprises a shaft seat, a rotating shaft and a pulley, the shaft seat is vertically arranged on the frame, the rotating shaft is coaxially arranged at the top of the shaft seat, and the pulley is rotatably arranged on the rotating shaft.
7. The rope-driven joint preload adjustment apparatus as defined in claim 1, wherein: the machine frame is also provided with an empty fixing frame, and the empty fixing frame is used for fixing ropes which are not connected with the driving ropes in the last stage pulley block.
8. The rope-driven joint preload adjustment apparatus as defined in claim 1, wherein: the frame includes the base plate, the bottom symmetry of base plate is provided with a plurality of height-adjustable stabilizer blades, force measurement subassembly sets up on the base plate, just the top of base plate still is provided with the U-shaped support, the U-shaped support is used for bearing movable pulley subassembly and fixed pulley subassembly.
9. The rope-driven joint preload adjustment apparatus as defined in claim 1, wherein: and each pulley frame is provided with a rope fixing piece which is used for quickly connecting a rope with the pulley frame.
10. The rope-driven joint preload adjustment apparatus as defined in claim 1, wherein: the movable pulley component and the force measuring component move on the same straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210298622.1A CN114633252B (en) | 2022-03-21 | 2022-03-21 | Rope-driven joint pretightening force adjusting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210298622.1A CN114633252B (en) | 2022-03-21 | 2022-03-21 | Rope-driven joint pretightening force adjusting device |
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| CN114633252A CN114633252A (en) | 2022-06-17 |
| CN114633252B true CN114633252B (en) | 2023-09-08 |
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