Rope transmission driving mechanism based on elastic reel, and rope tension measuring method for rope transmission driving mechanism

Abstract

The invention provides an adaptive variable-torque rope transmission driving mechanism based on an elastic reel, and a rope tension measuring method for the adaptive variable-torque rope transmissiondriving mechanism. The adaptive variable-torque rope transmission driving mechanism mainly comprises motor base, a driving motor, a gear reducer, the elastic reel and a rope; and the elastic reel is composed of an elastic strip and an elastic strip supporting disc. The motor drives the elastic reel to rotate through the gear reducer, the rope is wound on the elastic reel, when tension is increased, the elastic reel is compressed along with increasing of extrusion force of the rope, the diameter is decreased, and thus the adaptivity of the output torque of the motor is improved; and the rope tension measuring method is suitable for occasions, such as a robot dexterous hand, having requirements of flexibility, miniaturization and the like for the transmission driving mechanism.

Description

technical field [0001] The present invention relates to the field of micro-electromechanical systems, in particular to a rope transmission drive mechanism based on an elastic drum and a method for measuring rope tension, in particular to a mechanism that can change the diameter of an elastic drum according to the change in the load of the rope, and a method for measuring rope tension . Background technique [0002] At present, the drive transmission mechanism for the dexterous hand of the robot often adopts a geared motor and a rope transmission mechanism, but the disadvantage is that the existing rope transmission drive mechanism often does not have flexibility and tension detection, and the elastic reel used in the present invention not only enables the rope transmission to have Flexible, and at the same time, due to the use of its own elastic deformation to change the diameter of the reel, it has the function of adaptive torque conversion, which further improves the outpu...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of large size, heavy weight, fixed driving speed and bulky driving force measurement sensor of the traditional driver, the present invention provides a rope transmission driving mechanism based on an elastic drum and a rope tension measurement method thereof, which can adaptively change the transmission In addition, a rope tension measuring mechanism is provided, which can measure the driving force, so as to solve the deficiencies in the prior art, change the structure of the driving drum and the driving mechanism, and further improve the performance advantages of the driving mechanism

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