Modularized wire wrapping system of wire drive mechanism

Abstract

The invention discloses a modularized wire wrapping system of a wire drive mechanism. The modularized wire wrapping system comprises a drive device and a steel wire rope used for transmission, and further comprises a wire wrapping, fixing and pre-tightening module which is used for fixing the tail end of the steel wire rope and preliminarily pre-tightening the steel wire rope, a wire wrapping tension detecting module for detecting tension of the steel wire rope, and a wire wrapping tension regulating module for regulating tension of the steel wire rope, wherein the wire wrapping, fixing and pre-tightening module, the wire wrapping tension detecting module and the wire wrapping tension regulating module are sequentially connected; the steel wire rope is guided out from the wire wrapping, fixing and pre-tightening module, and sequentially wraps across the wire wrapping tension detecting module and the wire wrapping tension regulating module; and the wire wrapping, fixing and pre-tightening module is connected to the drive device, and wraps the steel wire rope under driving of the drive device. The modularized wire wrapping system is small in structure, can realize wire transmission within a narrow space, and improves compactness, aesthetic degree, measurability and reliability of the equipment through a modularized design.

Description

technical field [0001] The invention relates to a wire driving winding device, in particular to a modular wire driving mechanism winding system. Background technique [0002] At present, in recent years, with the development of robot and mechanical dexterous hand technology, wire drive technology has been more and more used in the drive of robots and dexterous hands. Compared with the traditional transmission system, the wire drive can realize the advantages of long-distance power transmission and easy to change the transmission direction. It is very suitable for structural drives with small spaces and multiple degrees of freedom, such as dexterous hands. [0003] However, wire transmission technology also has some specific technical determinations. For example, the direction of power transmission can only be unidirectional, and it is necessary to reliably fix the wire rope and the motor drive shaft. After a long time of use, the steel wire rope will loosen and affect the a...

AI Technical Summary

Problems solved by technology

After a long period of use, the steel wire rope will loosen and affect the accuracy of the transmission, requiring a special tensioning mechanism

Moreover, for the measurement of wire tension, the previous tension sensor has a large volume and poor pre-tightening function, which affects the assembly difficulty and aesthetics of the steel wire rope transmission tension measurement in a narrow space.

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