CN113844963A - Tension-controllable take-up and pay-off device and take-up and pay-off method - Google Patents
Tension-controllable take-up and pay-off device and take-up and pay-off method Download PDFInfo
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- CN113844963A CN113844963A CN202111372849.8A CN202111372849A CN113844963A CN 113844963 A CN113844963 A CN 113844963A CN 202111372849 A CN202111372849 A CN 202111372849A CN 113844963 A CN113844963 A CN 113844963A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000004804 winding Methods 0.000 claims abstract description 9
- 238000013016 damping Methods 0.000 claims description 21
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 4
- 230000033228 biological regulation Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4402—Guiding arrangements to control paying-out and re-storing of the material
- B65H75/4405—Traversing devices; means for orderly arranging the material on the drum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4436—Arrangements for yieldably braking the reel or the material for moderating speed of winding or unwinding
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- Tension Adjustment In Filamentary Materials (AREA)
Abstract
A controllable tension take-up and pay-off device and a take-up and pay-off method. The invention comprises the following steps: the support comprises a bottom plate (9), and a left mounting plate (2) and a right mounting plate (4) are mounted on the bottom plate (9); the electric slip ring wire roller (1) is arranged on the top of the bracket through a wire shaft belt wheel (5); the wire arranging component (100) is arranged at the bottom of the support, and the right side of the wire arranging component (100) is fixedly connected with a wire arranging belt wheel (8); servo motor group (3) install the middle part of support, servo motor group (3) right side link firmly driving pulley (7), driving pulley (7) spool band pulley (5) reason line band pulley (8) link to each other through drive belt (6) and carry out the linkage together. The invention can keep the tension on the cable stable, the cable state is controllable during paying off, the paying off speed on the cable tray can be sensed, and the problem that the motor rotating speed on the spool cannot be accurately controlled to be matched with the paying off speed due to the fact that the wire winding radius on the spool is constantly changed in the process of paying off and paying off is avoided.
Description
The technical field is as follows:
the invention relates to a controllable tension take-up and pay-off device and a take-up and pay-off method.
Background art:
in special environment operation, special robots are increasingly used. Because special type robot has the precision height, and stability is good, and the flexibility is high, cross-country ability is strong's advantage, has reduced the risk in the operation: the robot has the advantages that the dangerous condition of an operator during operation directly exposed in the dangerous environment is avoided, the actual environment condition of a target place is provided in advance, and the like.
In the field of remote information transmission, there are two communication modes of special robots: the first is wireless communication, the second is wired communication, and in some special occasions, the wireless communication can cause unsmooth communication and easily causes the situation that the vehicle body is out of control due to the complex and changeable environment, so a wired and wireless composite communication mode is very necessary, and the operation stability of the robot body is greatly improved. Therefore, the device capable of automatically winding and unwinding the cable is designed to assist the robot to operate.
The cable withdrawing position is uncontrollable and the arrangement is irregular. Resulting in uncontrollable spool line speeds. The reason is that the winding is not determined regularly, the cable is in a spindle shape, and the outgoing line radius cannot be controlled.
When the cable is taken up, the cable cannot be tidied up smoothly, and the problem of cable looping can occur. When the radius of the loop around which the cable is wound is smaller than the minimum turning radius of the cable, the cable is at risk of breaking.
If the automobile body meets special circumstances, the cable is stretched by the displacement (such as high platform, slope, deep groove etc.) that the automobile body is difficult to gather, and the unwrapping wire ware can't react.
The invention content is as follows:
the invention aims to provide a controllable tension coiling and uncoiling device and a coiling and uncoiling method, which can realize that cables are stably coiled and uncoiled by matching the speed of a special robot when the special robot moves, can sense the tension change of the cables when the cables are pulled, and can maintain the tension of the cables in real time.
The above purpose is realized by the following technical scheme:
a controllable tension take-up and pay-off device comprising:
the support comprises a bottom plate, and a left mounting plate and a right mounting plate are mounted on the bottom plate;
the electric slip ring wire roller is arranged on the top of the bracket through a wire shaft belt wheel;
the wire arranging component is arranged at the bottom of the bracket, and the right side of the wire arranging component is fixedly connected with a wire arranging belt wheel;
the servo motor group, the servo motor group install the middle part of support, servo motor group right side link firmly driving pulley, driving pulley the spool band pulley the reason line band pulley link to each other together through the drive belt and carry out the linkage.
Furthermore, the wire arrangement assembly comprises a wire arrangement frame, 2 wire arrangement slide rails are installed on the wire arrangement frame, the first wire arrangement wheel is fixed at the right ends of the 2 wire arrangement slide rails through a wire arrangement measurement slide seat, and the second wire arrangement wheel is installed at the left end of the wire arrangement slide rail;
and a long pressure spring is arranged on the outer side of the wire arranging slide rail and is arranged between the right end of the wire arranging frame and the wire arranging measuring slide seat.
Furthermore, the wire arranging frame is provided with a measuring seat, the measuring seat is provided with 2 pressing shafts, 2 pressing shafts pass through holes in the wire arranging frame and then are provided with short pressure springs, one end of each short pressure spring is contacted with the wire arranging frame, and the other end of each short pressure spring is limited in position by a pressure spring fixing nut above the corresponding pressing shaft.
Furthermore, the measuring seat is also provided with a measuring wheel, the measuring wheel is pressed on a damping wheel arranged on the wire arranging frame through a short pressure spring, the damping wheel is contacted with the measuring wheel through a rotary pressure spring fixing nut, and a cable gap is formed between the damping wheel and the measuring wheel.
Furthermore, a third wire arranging wheel and a fourth wire arranging wheel are respectively installed on the wire arranging frames on the two sides of the damping wheel.
Furthermore, a fixed outlet is arranged on the wire arranging frame, the fixed outlet slides to ensure that the bending radius of the cable in the vertical direction is not less than the minimum turning radius of the cable when the cable is led out, and the sliding outlet slides on the fixed outlet.
Furthermore, a positioning sliding block set and a reciprocating lead screw set are mounted at the lower part of the wire arranging frame, and the wire arranging frame moves transversely through the rotating speed input by the reciprocating lead screw set.
A method of taking up and paying off a cable using the controllable tension take-up and pay-off device as claimed in any one of claims 1 to 7,
firstly, cables need to bypass the wire arranging wheel on the wire arranging measuring slide seat and the wire arranging wheel on the left side of the wire arranging slide rail, certain allowance is provided for the cables through the movement of the wire arranging measuring slide seat, and the tension on the cables is deduced through sensing the position on the wire arranging slide rail;
then, the cable passes through the wire arranging wheels on the two sides of the damping wheel, penetrates through a gap between the damping wheel and the measuring wheel, is tightly pressed on the damping wheel by the measuring wheel, and is finally output to the outside from a position between the fixed wire outlet and the sliding wire outlet.
Furthermore, the tension parameters on the cable are fed back to the servo motor set, the rotating speed of the servo motor set is reduced when the tension is too small, the rotating speed of the servo motor set is increased when the tension is too large, the servo motor set drives the slip ring wire roller to rotate in a speed regulation mode through the transmission belt, and the wire unwinding amount is increased or reduced.
Furthermore, the transmission belt, the reciprocating lead screw group servo motor set and the electric slip ring wire roller are driven to rotate, and the transverse displacement of the reciprocating lead screw group is controlled according to the diameter value of the driving belt wheel and the wire arranging belt wheel when the electric slip ring wire is driven to roll for one circle, so that the transverse displacement is matched with the diameter of the cable, and the cable can be guaranteed to be arranged neatly on the electric slip ring wire roller when being taken up.
The invention has the beneficial effects that:
the take-up and pay-off device can prevent the local tension of the cable from being too large when the cable is clamped, the cable can be collected neatly when the cable is taken up, the position of the cable on the spool can be controlled, the cable shaft cannot be loosened completely due to the inertia of the spool, and the reliability of the pay-off device is improved.
The take-up and pay-off device can sense the pay-off speed on the cable disc, the problem that the rotating speed of a motor on a spool cannot be accurately controlled to be matched with the pay-off speed due to the fact that the winding radius of a wire on the spool is constantly changed in the take-up and pay-off process is avoided, and the take-up and pay-off linear speed can be simply matched with the chassis speed in the take-up and pay-off process.
The tension of the cable is controllable, the cable can be prevented from being wound, and the outlet failure rate of the take-up and pay-off device in use is reduced.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the wire management assembly of fig. 1.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention provides a controllable tension take-up and pay-off device, which comprises: the electric slip ring wire roller comprises an electric slip ring wire roller 1, a left mounting plate 2, a servo motor set 3, a right mounting plate 4, a wire spool belt wheel 5, a transmission belt 6, a driving belt wheel 7, a wire arranging belt wheel 8, a bottom plate 9 and a wire arranging assembly 100.
The wire arranging assembly 100 is composed of a fixed wire outlet 101, a sliding wire outlet 102, a wire arranging frame 103, a wire arranging slide rail 104, a wire arranging measuring slide seat 105, a wire arranging wheel I106, a long pressure spring 107, a short pressure spring 108, a pressing shaft 109, a pressure spring fixing nut 1010, a damping wheel 1011, a measuring wheel 1012, a measuring seat 1013, a positioning slide block group 1014, a reciprocating screw rod group 1015, a wire arranging wheel I1016, a wire arranging wheel I1017, a wire arranging wheel I1018 and a wire arranging wheel I1019.
The left mounting plate 2, the right mounting plate 4 and the bottom plate 9 form a support of the take-up and pay-off device; the top of the take-up and pay-off device is provided with an electric slip ring wire roller 1, and the right side of the electric slip ring wire roller is fixedly connected with a wire shaft belt wheel 5; the middle part of the winding and unwinding device is provided with a servo motor set 3, and the right side of the servo motor set 3 is fixedly connected with a driving belt wheel 7; the bottom of the take-up and pay-off device is provided with a wire arranging assembly 100; the right side of the wire arranging component 100 is fixedly connected with a wire arranging belt wheel 8; the spool belt wheel 5, the driving belt wheel 7 and the wire arranging belt wheel 8 are connected together through a transmission belt 6 to perform linkage.
Then, in the wire arranging assembly 100, two wire arranging slide rails 104 are mounted on the wire arranging frame 103, a wire arranging wheel one 106 is fixed on the two wire arranging slide rails 104 through a wire arranging measuring slide base 105, the wire arranging measuring slide base 105 can measure the position of the wire arranging wheel one per se on the wire arranging slide rails 104, a long compression spring 107 is mounted on the outer side of each wire arranging slide rail 104 between the right end of the wire arranging frame 103 and the wire arranging measuring slide base 105, one wire arranging wheel 106 can slide on the wire arranging slide rails 104 through the wire arranging measuring slide base 105, and a wire arranging wheel two 1016 can move from a compression limit position 901 to a right limit due to the existence of the long compression spring 107. Furthermore, a measuring seat 1013 is installed on the wire arranging frame 103, two pressing shafts 109 are installed on the measuring seat 1013, a short pressure spring 108 is installed after the two pressing shafts 109 pass through holes on the wire arranging frame 103, one end of the short pressure spring 108 is in contact with the wire arranging frame 103, the other end is limited by a pressure spring fixing nut 1010 above the pressing shaft 109, a measuring wheel 1012 is also installed on the measuring seat 1013, the measuring wheel 1012 has a function of measuring the rotation speed of itself, the measuring wheel 1012 can be pressed on the damping wheel 1011 arranged on the wire arranging frame 103 with a certain pressure by the thrust provided by the short pressure spring 108, the damping wheel 1011 can provide a certain rotary damping, the down force of the measuring wheel 1012 can be adjusted by rotating the pressure spring fixing nut 1010, so that the measuring wheel 1012 and the cable are ensured not to slip, the paying-off speed is ensured to be accurately measured, meanwhile, the cable in the winding and unwinding device is also straightened, so that the device cannot fail due to the fact that the cable is loosened. Furthermore, a fixed outlet 101 and a sliding outlet 102 are mounted on the cable arranging frame 103, the fixed outlet 101 ensures that the bending radius of the cable outgoing in the up-down direction is not smaller than the minimum turning radius of the cable, and the sliding outlet 102 can slide on the fixed outlet 101, so that the self-adaptive cable error ensures that the bending radius of the cable outgoing in the left-right direction is not smaller than the minimum turning radius of the cable. Furthermore, a positioning slide block group 1014 is arranged at the lower part of the wire arranging frame 103, and the purpose of the two parts of the reciprocating lead screw group 1015 is to enable the wire arranging device to move transversely along with the rotating speed input by the reciprocating lead screw group 1015.
The working process is as follows:
the cable firstly needs to bypass the wire arranging wheel 106 on the wire arranging measuring slide seat 105 and the wire arranging wheel 106 on the left side of the wire arranging slide rail 104, a certain margin can be provided for the cable through the movement of the wire arranging measuring slide seat 105, and the pulling force on the cable is deduced through sensing the position on the wire arranging slide rail 104; then the cable passes through the cable arranging wheels 106 on the two sides of the damping wheel 1011, passes through a gap between the damping wheel 1011 and the measuring wheel 1012, is pressed on the damping wheel 1011 by the measuring wheel 1012, and is finally output to the outside from between the fixed outlet 101 and the sliding outlet 102. Furthermore, the tension parameters on the cable can be fed back to the servo motor set 3, the rotation speed of the servo motor set 3 is reduced due to too small tension, the rotation speed of the servo motor set 3 is increased due to too large tension, the servo motor set 3 drives the electric slip ring wire roller 1 to perform speed regulation rotation through the transmission belt 6 at the moment, and the wire unwinding amount is increased or reduced. Furthermore, the reciprocating lead screw group 1015 also rotates along with the servo motor group 3 and the driving electric slip ring wire roller 1 through the driving belt 6, and according to the driving belt wheel 7 and the diameter value of the wire arranging belt wheel 8, the transverse displacement of the reciprocating lead screw group 1015 can be controlled to drive the electric slip ring wire roller 1 to rotate for one circle, so that the transverse displacement is matched with the diameter of the cable, and the cable can be guaranteed to be regularly distributed on the electric slip ring wire roller 1 during take-up.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A controllable pulling force pay-off and take-up device, comprising:
the support comprises a bottom plate (9), and a left mounting plate (2) and a right mounting plate (4) are mounted on the bottom plate (9);
the electric slip ring wire roller (1) is arranged on the top of the bracket through a wire shaft belt wheel (5);
the wire arranging component (100) is installed at the bottom of the support, and the right side of the wire arranging component (100) is fixedly connected with a wire arranging belt wheel (8);
servo motor group (3), servo motor group (3) install the middle part of support, servo motor group (3) right side link firmly driving pulley (7), driving pulley (7) spool band pulley (5) reason line band pulley (8) be connected to together through drive belt (6) and carry out the linkage.
2. The controllable tension take-up and pay-off device according to claim 1, wherein the wire arranging assembly (100) comprises a wire arranging frame (100), 2 wire arranging slide rails (104) are mounted on the wire arranging frame (103), a first wire arranging wheel (106) is fixed at the right ends of the 2 wire arranging slide rails (104) through a wire arranging measuring slide carriage (105), and a second wire arranging wheel (1016) is mounted at the left end of the wire arranging slide rail (104);
and a long pressure spring (107) is arranged on the outer side of the wire arranging slide rail (104), and the long pressure spring (107) is arranged between the right end of the wire arranging frame 103 and the wire arranging measuring slide seat (105).
3. The controllable tension take-up and pay-off device according to claim 2, wherein the wire arranging frame (103) is provided with a measuring seat (1013), the measuring seat (1013) is provided with 2 pressing shafts (109), 2 pressing shafts (109) are provided with short compression springs (108) after passing through holes on the wire arranging frame (103), one end of each short compression spring (108) is in contact with the wire arranging frame (103), and the other end of each short compression spring (108) is limited in position by a compression spring fixing nut (1010) above the corresponding pressing shaft (109).
4. The controllable tension take-up and pay-off device according to claim 3, wherein the measuring seat (1013) is further provided with a measuring wheel (1012), the measuring wheel (1012) is pressed on a damping wheel (1011) arranged on the wire holding frame (103) through a short compression spring (108), the damping wheel (1011) is contacted with the measuring wheel (1012) through a rotating compression spring fixing nut (1010), and the gap between the damping wheel (1011) and the measuring wheel (1012) is adjusted according to the cable specification.
5. The controllable tension take-up and pay-off device according to claim 4, wherein a third wire arranging wheel (1017) and a fourth wire arranging wheel (1018) are respectively mounted on the wire arranging frames on two sides of the damping wheel (1011).
6. The controllable tension take-up and pay-off device according to claim 5, wherein the fixed outlet (101) is installed on the wire arranging frame (103), the fixed outlet (101) of the sliding outlet (102) ensures that the bending radius of the cable in the up-down direction is not smaller than the minimum turning radius of the cable, and the sliding outlet (102) slides on the fixed outlet (101).
7. The controllable tension take-up and pay-off device according to claim 6, wherein a positioning slider group (1014) and a reciprocating lead screw group (1015) are mounted at the lower part of the wire arranging frame (103), and the wire arranging frame (103) moves transversely through the rotating speed input by the reciprocating lead screw group (1015).
8. A method of taking up and paying off a cable using the controllable tension take-up and pay-off device as claimed in any one of claims 1 to 7,
firstly, a cable needs to bypass a wire arranging wheel (106) on a wire arranging measuring slide seat (105) and the wire arranging wheel (106) on the left side of a wire arranging slide rail (104), a certain allowance is provided for the cable through the movement of the wire arranging measuring slide seat (105), and the tension on the cable is deduced through sensing the position of the wire arranging measuring slide seat (105) on the wire arranging slide rail (104);
then, the cable passes through the wire arranging wheels (106) on the two sides of the damping wheel (1011), passes through a gap between the damping wheel (1011) and the measuring wheel (1012), is pressed on the damping wheel (1011) by the measuring wheel (1012), and is finally output to the outside from a position between the fixed outlet (101) and the sliding outlet (102).
9. The reeling and unreeling method of the controllable tension reeling and unreeling device according to claim 8, wherein tension parameters on the cable are fed back to the servo motor set (3), the rotation speed of the servo motor set (3) is reduced when tension is too small, the rotation speed of the servo motor set (3) is increased when tension is too large, and the servo motor set (3) drives the electric slip ring wire roller (1) to rotate at a speed regulation through the transmission belt (6) so as to increase or decrease the unreeling amount.
10. The wire winding and unwinding method of the controllable tension wire winding and unwinding device according to claim 9, wherein the transmission belt (6), the reciprocating lead screw set (1015), the servo motor set (3) and the electric slip ring wire roller (1) are driven to rotate, and the transverse displacement of the reciprocating lead screw set (1015) is controlled when the electric slip ring wire roller (1) is driven to rotate for one circle according to the diameter value of the driving pulley (7) and the wire arranging pulley (8), so that the transverse displacement is matched with the diameter of the cable, and the cable can be guaranteed to be regularly arranged on the electric slip ring wire roller (1) during wire winding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111372849.8A CN113844963A (en) | 2021-11-19 | 2021-11-19 | Tension-controllable take-up and pay-off device and take-up and pay-off method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111372849.8A CN113844963A (en) | 2021-11-19 | 2021-11-19 | Tension-controllable take-up and pay-off device and take-up and pay-off method |
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| Publication Number | Publication Date |
|---|---|
| CN113844963A true CN113844963A (en) | 2021-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111372849.8A Pending CN113844963A (en) | 2021-11-19 | 2021-11-19 | Tension-controllable take-up and pay-off device and take-up and pay-off method |
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| Country | Link |
|---|---|
| CN (1) | CN113844963A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0733330A (en) * | 1993-07-21 | 1995-02-03 | Suzuki Motor Corp | Cable state control device for remote controlled vehicle |
| CN205855611U (en) * | 2016-07-11 | 2017-01-04 | 合肥通鼎光电科技有限公司 | A kind of tension control mechanism of fibre ribbon disc type cage |
| CN108821036A (en) * | 2018-07-02 | 2018-11-16 | 合肥瀚翔智能科技有限公司 | One kind being tethered at unmanned plane with full-automatic hawser draw off gear |
| CN212222074U (en) * | 2020-05-25 | 2020-12-25 | 厦门市特种设备检验检测院(厦门市特种设备应急处置中心) | Elevator braking capability detection device |
| CN214399373U (en) * | 2020-12-07 | 2021-10-15 | 山东天岳先进科技股份有限公司 | Power cord storage device for construction |
| CN216235420U (en) * | 2021-11-19 | 2022-04-08 | 哈工军立方机器人科技(北京)有限公司 | Controllable pulling force take-up and pay-off device |
-
2021
- 2021-11-19 CN CN202111372849.8A patent/CN113844963A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0733330A (en) * | 1993-07-21 | 1995-02-03 | Suzuki Motor Corp | Cable state control device for remote controlled vehicle |
| CN205855611U (en) * | 2016-07-11 | 2017-01-04 | 合肥通鼎光电科技有限公司 | A kind of tension control mechanism of fibre ribbon disc type cage |
| CN108821036A (en) * | 2018-07-02 | 2018-11-16 | 合肥瀚翔智能科技有限公司 | One kind being tethered at unmanned plane with full-automatic hawser draw off gear |
| CN212222074U (en) * | 2020-05-25 | 2020-12-25 | 厦门市特种设备检验检测院(厦门市特种设备应急处置中心) | Elevator braking capability detection device |
| CN214399373U (en) * | 2020-12-07 | 2021-10-15 | 山东天岳先进科技股份有限公司 | Power cord storage device for construction |
| CN216235420U (en) * | 2021-11-19 | 2022-04-08 | 哈工军立方机器人科技(北京)有限公司 | Controllable pulling force take-up and pay-off device |
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