CN113735005B - Electric power-assisted traction device and control method - Google Patents
Electric power-assisted traction device and control method Download PDFInfo
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- CN113735005B CN113735005B CN202111303042.9A CN202111303042A CN113735005B CN 113735005 B CN113735005 B CN 113735005B CN 202111303042 A CN202111303042 A CN 202111303042A CN 113735005 B CN113735005 B CN 113735005B
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- 230000003287 optical effect Effects 0.000 claims description 14
- 230000003068 static effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000001681 protective effect Effects 0.000 description 9
- 238000012549 training Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000386 athletic effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
- B66D1/74—Capstans
- B66D1/7442—Capstans having a horizontal rotation axis
- B66D1/7447—Capstans having a horizontal rotation axis driven by motor only
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/26—Rope, cable, or chain winding mechanisms; Capstans having several drums or barrels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
- B66D1/525—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water electrical
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Abstract
The invention discloses an electric power-assisted traction device and a control method, relating to the technical field of traction equipment, wherein the traction device comprises: a frame; the traction mechanism comprises a bobbin, a traction shaft and a load shaft, wherein the traction shaft and the load shaft are arranged on the periphery of the bobbin, and the bobbin, the traction shaft and the load shaft are respectively movably connected to the rack; the power motor is arranged on the rack and is in transmission connection with the winding reel to provide traction assistance for the winding reel; the traction cable is wound on the winding drum for at least one circle; the pressure sensor is arranged on one side of the rack, which is the same as the traction direction of the traction cable, and the measuring end of the pressure sensor is in contact with the surface of the traction shaft so as to obtain pressure data when the traction shaft is pressed; the controller adjusts working parameters of the power motor according to the pressure data so as to change the traction assistance to the winding drum. The invention can solve the technical problem that the traction device in the prior art cannot provide assistance.
Description
Technical Field
The invention relates to the technical field of traction devices, in particular to an electric power-assisted traction device and a control method.
Background
The fixed pulley is a traction and lifting mechanism widely used in the industry, and the mechanical property of the fixed pulley is that only the tension direction is changed, and the tension magnitude and the traction stroke are not changed. In contrast, a movable sheave can vary the amount of traction, but requires an inversely proportional change in traction travel. For example, if a single-acting pulley is used to obtain 2 times the amount of tension, the traction path would also need to be correspondingly increased by 2 times. The manual mechanisms such as the lever, the inclined plane and the like also have similar characteristics, work is done through the manual mechanisms, the force and the travel are equal to the output work, and when the output work is constant, one is reduced, and the other is required to be correspondingly amplified. The full-electric lifting device, such as a winch, an electric hoist and the like, can replace manual labor of human beings, but in life, some traction and lifting occasions exist, the movement process is very complicated, the requirements on the lifting displacement and speed are very accurate, so that a pure power tool cannot be used for replacing manual work, meanwhile, the load capacity is large, and workers have the labor-saving desire and requirement but do not want to pay the cost of increasing the stroke.
In the athletic training community, protective belts are used in the training of many sporting events, such as diving, gymnastics, trampolines, rock climbing, and the like. The protective belt is a commonly used sport protection device, one end of which is bound on a sportsman body, and the other end of which is held by a coach through mechanisms such as a traction wheel and the like. The coach can protect the athlete by the protective belt on one hand, and the traction force of the protective belt can change the motion state of the athlete in the air on the other hand, such as changing the speed of the athlete turning in the air, prolonging the dead time of the athlete and the like. These objectives are achieved by relying on the very precise feel of the pull cord by the coach, which cannot be replaced by purely mechanical means. On the other hand, when a coach pulls a protective belt for an athlete, the load of the coach is the weight of one person, which is not only a heavy physical work for the coach, but also increases the limitation on the condition of the coach: the person pulling the protective band must weigh more than the person being pulled. These factors impose limitations on the extended use of protective bands, an important training method, and result in many female trainers, older trainers, not being able to train with protective bands.
Therefore, the athletic training community needs a technical solution that can not only maintain the coach's precise control over the protective belt, but also achieve traction relief.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an electric power-assisted traction device and a control method, and aims to solve the technical problem that the traction device in the prior art cannot provide power assistance.
An aspect of the present invention is to provide an electric power assisted traction apparatus, the apparatus comprising:
a frame;
the traction mechanism comprises a bobbin, a traction shaft and a load shaft, wherein the traction shaft and the load shaft are arranged on the periphery of the bobbin, and the bobbin, the traction shaft and the load shaft are respectively movably connected to the rack;
the power motor is arranged on the rack and is in transmission connection with the winding reel to provide traction assistance for the winding reel;
the traction cable is wound around the winding drum for at least one circle, the traction end of the traction cable penetrates through the traction shaft, and the load end of the traction cable penetrates through the load shaft;
the pressure sensor is arranged on one side of the rack, which is the same as the traction direction of the traction cable, and the measuring end of the pressure sensor is in contact with the surface of the traction shaft so as to obtain pressure data when the traction shaft is pressed;
the pressure sensor sends the pressure data to a controller, and the controller adjusts working parameters of the power motor according to the pressure data so as to change traction assistance to the traction cable.
Compared with the prior art, the electric power-assisted traction device has the beneficial effects that: exert in the pressure data on the traction shaft when can obtain the traction cable tensioning through pressure sensor, pressure sensor sends pressure data for the controller, and the controller can correspond control power motor and rotate with output torque to for the traction cable provides traction assistance, be convenient for women's coach, the big coach of age use the device to provide supplementary for the sportsman training.
According to one aspect of the above technical scheme, the traction mechanism further comprises mounting plates respectively arranged at two ends of the bobbin, a center shaft lead screw penetrates through the bobbin, two ends of the center shaft lead screw are respectively and fixedly connected to the mounting plates, one end, far away from the bobbin, of the mounting plates is rotatably connected to the rack, and one of the mounting plates is in transmission connection with the power motor.
According to one aspect of the above technical solution, a spiral winding groove is formed in the circumferential surface of the winding drum, the traction cable is wound in the winding groove, and the pitch of the winding groove is equal to that of the middle shaft screw rod.
According to one aspect of the above technical scheme, at least two optical axis slide rails are arranged in the bobbin in a penetrating manner, two ends of each optical axis slide rail are respectively and fixedly connected to the mounting plate, and the two optical axis slide rails are respectively arranged on two sides of the center shaft screw rod;
when the optical axis sliding rail is drawn, the bobbin rotates around the central axis screw rod, and slides along the optical axis sliding rail.
According to one aspect of the technical scheme, the traction shaft is provided with a traction wheel, the load shaft is provided with a load wheel, the traction end of the traction cable penetrates out of the rack through the traction wheel, and the load end of the traction cable penetrates out of the rack through the load wheel.
According to one aspect of the technical scheme, a mounting hole is formed in a side plate of the rack, the mounting hole is formed below the mounting position of the traction shaft, and the pressure sensor is arranged in the mounting hole.
According to one aspect of the technical scheme, the power motor is arranged on the inner side of the rack, an output shaft of the power motor penetrates out of a side plate of the rack and is fixedly provided with a driving wheel at the end, one side, far away from the bobbin, of the mounting plate is provided with a connecting shaft, the connecting shaft penetrates out of the side plate of the rack and is fixedly provided with a driven wheel at the end, and the driven wheel is connected with the driving wheel through a transmission piece.
Another aspect of the present invention is to provide a method for controlling an electric power assisted traction apparatus, for controlling the electric power assisted traction apparatus in the above technical solution, the method comprising:
acquiring pressure data of the traction shaft pressed by the traction cable through a pressure sensor;
the pressure sensor sends the pressure data to a controller;
and the controller adjusts the working parameters of the power motor according to the pressure data so as to change the traction assistance to the traction cable.
According to one aspect of the above technical solution, under the assisting action of the power motor, ignoring the frictional resistance at the rotational connection position of the bobbin, the load shaft and the traction shaft, the relationship between the load end tension Fi and the traction end tension Fo of the traction cable is represented as:
M/r = t * Fi
Fo= Fi + M/r = (1+t) * Fi = k * Fi
in the formula, M is the assisting force moment transmitted to the bobbin by the power motor through the transmission assembly, r is the radius of the bobbin, namely the traction force of the bobbin to the traction cable is M/r, t is the proportional coefficient of the bobbin to the assisting force of the traction cable and the traction end tension of the traction cable, k is the comprehensive assisting force multiple, and when the traction end of the traction cable applies the Fi-sized tension, the traction force k times the Fi-sized traction force is obtained at the load end of the traction cable.
According to one aspect of the technical scheme, when the traction cable is in a tensioning state, the traction cable is pressed in a winding groove on the surface of the winding drum, and the traction cable and the winding drum are ensured not to slide relatively through static friction;
the relation between the coiling angle theta of the traction rope on the surface of the bobbin and the friction coefficient mu of the traction rope and the bobbin is as follows: θ > (ln (Fo/Fi))/μ.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of an electric assist traction apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a hidden portion of an electric assist traction apparatus according to an embodiment of the present invention;
FIG. 3 is an enlarged view of the structure of part A of FIG. 2;
FIG. 4 is a schematic structural diagram of a hidden portion of an electric assist traction apparatus according to an embodiment of the present invention;
FIG. 5 is another schematic diagram of an electric assist traction device in accordance with an embodiment of the present invention;
FIG. 6 is a force analysis diagram of the pull cable in accordance with one embodiment of the present invention;
the figure elements are illustrated in symbols:
the device comprises a frame 10, a side plate 11, a connecting piece 12, a traction mechanism 20, a bobbin 21, a winding groove 210, a traction shaft 22, a traction wheel 220, a load shaft 23, a mounting plate 24, a center shaft screw rod 25, an optical axis slide rail 26, a power motor 30, a traction cable 40, a traction end 41, a load end 42, a pressure sensor 50, a measurement end 51, a mounting hole 52, a controller 60, a driving wheel 70, a driven wheel 71 and a transmission belt 72.
Detailed Description
In order to make the objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical," "horizontal," "left," "right," "up," "down," and the like are used for descriptive purposes only and not for purposes of indicating or implying that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1-5, a first embodiment of the present invention provides an electric power assisted traction apparatus, comprising: a frame 10 for carrying other components, a traction mechanism 20, a power motor 30, a traction cable 40, and a pressure sensor 50.
Specifically, the frame 10 is generally U-shaped, and includes two side plates 11 and a connecting member 12 connected between the side plates 11, and the frame 10 is obtained by assembling the two side plates 11 and the connecting member 12, and is used as a carrier for other mechanisms in this embodiment.
The traction mechanism 20 comprises a bobbin 21, and a traction shaft 22 and a load shaft 23 which are arranged on the periphery of the bobbin 21, wherein the bobbin 21 is used for winding the traction cable 40 and providing assistance for the traction cable 40, and the bobbin 21, the traction shaft 22 and the load shaft 23 are respectively movably connected to the rack 10, that is, the bobbin 21, the traction shaft 22 and the load shaft 23 can rotate around the axes thereof, so as to form a pulley block combination effect with the effect of changing the magnitude and direction of force.
The power motor 30 is arranged on the frame 10 and is in transmission connection with the bobbin 21 to provide traction assistance for the bobbin 21; when the power motor 30 rotates, the torque output by the power motor 30 is transmitted to the bobbin 21 through the transmission assembly between the power motor 30 and the bobbin 21, so that the bobbin 21 rotates around the axis thereof.
The traction cable 40 is wound at least one turn around the bobbin 21 so as to provide traction assistance to the traction cable 40 when the bobbin 21 rotates, and the traction end 41 of the traction cable 40 passes through the traction shaft 22 and the load end 42 of the traction cable 40 passes through the load shaft 23, specifically, the traction end 41 of the traction cable 40 is a force application end and the load end 42 of the traction cable 40 is a force application end.
The pressure sensor 50 is provided on the same side of the frame 10 as the traction direction of the traction cable 40, and the measuring end 51 of the pressure sensor 50 is in contact with the surface of the traction shaft 22 to obtain pressure data when the traction shaft 22 is pressed.
Wherein the pressure sensor 50 transmits pressure data to the controller 60, and the controller 60 adjusts operating parameters of the power motor 30 according to the pressure data to vary the tractive assistance to the traction cable 40.
When using the conventional traction apparatus to assist in athletic training, if a player a with a mass of 50kg holds the load end 42 of the traction cable 40, at least one coach B will be required to hold the traction end 41 of the traction cable 40 and provide at least 50kg of tension to lift the player a to a certain height.
When the electric power-assisted traction device shown in the embodiment is used for assisting sports training, when the athlete A holds the load end 42 of the traction cable 40 and the coach B holds the traction end 41 of the traction cable 40, under the action of gravity, the traction cable 40 is in a tensioned state, the tensioned traction cable 40 applies 50kg of gravity to the traction shaft 22, the winding shaft and the load shaft 23 in total, the measuring end 51 of the pressure sensor 50 senses the gravity distributed on the traction shaft 22, in order to assist the traction cable 40, the pressure sensor 50 sends pressure data to the controller 60, the controller 60 obtains the magnitude of the required assistance through analysis and calculation, so as to control the power motor 30 to rotate in the same direction as the traction direction, the power motor 30 outputs torque and controls the rotation of the winding drum 21 through the transmission assembly, the winding drum 21 gradually winds the traction cable 40, thereby leading the coach B to save worry and labor for the traction of the athlete A and achieving the effect of getting twice the result with half the effort.
Compared with the prior art, the electric power-assisted traction device shown in the embodiment has the beneficial effects that: the pressure sensor 50 can acquire pressure data applied to the traction shaft 22 when the traction cable 40 is tensioned, the pressure sensor 50 sends the pressure data to the controller 60, and the controller 60 can correspondingly control the power motor 30 to rotate so as to output torque, so that traction assistance is provided for the traction cable 40, and a female coach and a coach older can use the device to provide assistance for training athletes.
Referring to fig. 1 to 5 again, a second embodiment of the present invention provides an electric power-assisted traction apparatus, which has a structure substantially the same as that of the first embodiment, except that:
in this embodiment, in order to avoid the shearing force generated to the traction cable 40 when the bobbin 21 rotates and moves relative to the center axis screw rod 25, the traction mechanism 20 further includes mounting plates 24 respectively disposed at two ends of the bobbin 21, a center axis screw rod 25 penetrates through the bobbin 21, two ends of the center axis screw rod 25 are respectively and fixedly connected to the mounting plates 24, that is, when the power motor 30 drives the bobbin 21 to rotate through the transmission assembly, the bobbin 21 is rotatable relative to the center axis screw rod 25, one end of the mounting plate 24, which is far away from the bobbin 21, is rotatably connected to the rack 10, one of the mounting plates 24 is in transmission connection with the power motor 30, and as shown in the figure, the mounting plate 24 on the right side is in transmission connection with the power motor 30.
The circumferential surface of the bobbin 21 is provided with a spiral winding groove 210, the traction cable 40 is wound in the winding groove 210, and the pitch of the winding groove 210 is equal to that of the middle shaft screw rod 25.
During traction, the power motor 30 drives the bobbin 21 to rotate, and in the process of rotating the bobbin 21, the traction cable 40 is gradually wound in the winding groove 210 of the bobbin 21 itself, so that a middle axis screw rod 25 is inserted into the bobbin 21 and used in cooperation with the dial block, the bobbin 21 can rotate and move relative to the middle axis screw rod 25, so that the traction cable 40 is always wound around the bobbin 21 for a preset number of turns (e.g. one turn), that is, the bobbin 21 can reciprocate between the two side plates 11 of the rack 10 when rotating, the traction cable 40 is only wound on the bobbin 21 at a winding position changed, and the number of winding turns is not changed, thereby preventing the traction cable 40 from being guided into the winding grooves 210 at two sides, far away from each other, of the bobbin 21 to generate a shearing force on the traction cable 40.
In order to ensure that the bobbin 21 has good stability when moving along the center shaft screw rod 25, at least two optical axis slide rails 26 penetrate through the bobbin 21, two ends of each optical axis slide rail 26 are respectively and fixedly connected to the mounting plate 24, and the two optical axis slide rails 26 are respectively arranged on two sides of the center shaft screw rod 25; during rotation and movement of the bobbin 21 relative to the central axis lead screw 25, the bobbin 21 slides along the optical axis slide rail 26.
In order to save labor during the traction process, in some embodiments, the traction shaft 22 is provided with a traction wheel 220, the load shaft 23 is provided with a load wheel, the traction end 41 of the traction cable 40 passes out of the frame 10 through the traction wheel 220, and the load end 42 of the traction cable 40 passes out of the frame 10 through the load wheel.
Specifically, the traction end 41 of the traction cable 40 is not wrapped around the traction wheel 220 in this embodiment, but only the traction wheel 220 is used for changing the tension direction, and similarly, the load end 42 of the traction cable 40 is not wrapped around the load wheel, but only the load wheel is used for changing the load force direction.
Of course, in other embodiments, the traction end 41 of the traction cable 40 may also be disposed around the traction wheel 220, and the load end 42 of the traction cable 40 may also be disposed around the load wheel, so that when the two ends of the traction cable 40 are respectively wound around the traction wheel 220 and the load wheel, the friction resistance applied to the traction cable 40 during the stretching process is correspondingly increased, thereby reducing the traction assistance.
In the present embodiment, in order to facilitate the pressure sensor 50 to more accurately obtain the pressure data when the traction shaft 22 is pressed, a mounting hole 52 is formed on the side plate 11 of the frame 10, the mounting hole 52 is disposed below the mounting position of the traction shaft 22, the mounting hole 52 is communicated with a shaft hole on the side plate 11 for mounting the traction shaft 22, the pressure sensor 50 is disposed in the mounting hole 52, and the measuring end 51 of the pressure sensor 50 extends into the shaft hole, so that the pressure sensor 50 can obtain the pressure data when the traction shaft 22 is pressed.
In practical use, as long as one end of the traction shaft 22 is movable relative to the frame 10, the pressure sensor 50 can acquire pressure data of the traction shaft 22 under pressure, and the other end of the traction shaft 22 can be fixed on the other side of the frame 10 in an articulated manner.
In this embodiment, the power motor 30 is disposed inside the rack 10, that is, the power motor 30 is disposed on the side plate 11 of the rack 10, and may be fixed by a flange or the like. An output shaft of the power motor 30 penetrates through the side plate 11 of the frame 10 and is fixedly provided with a driving wheel 70 at the end part, one side of the mounting plate 24, which is far away from the bobbin 21, is provided with a connecting shaft, the connecting shaft penetrates through the side plate 11 of the frame 10 and is fixedly provided with a driven wheel 71 at the end part, and the driven wheel 71 is connected with the driving wheel 70 through a transmission piece.
The transmission belt 72 refers to one of a chain and a belt, and when the transmission belt 72 is a belt, the driving wheel 70 and the driven wheel 71 are both belt pulleys corresponding to the belt, so that the connection stability between the transmission belt 72 and the driving wheel 70 and the driven wheel 71 is ensured.
By adopting the electric power-assisted traction device shown in the embodiment, after the power motor 30 is controlled by the controller 60 to be electrified and rotated, the torque is output through the motor shaft and is gradually transmitted to the winding drum 21 through the transmission assembly, so that the winding drum 21 rotates and moves relative to the central axis screw rod 25, and the traction cable 40 can be wound in the winding groove 210 with the rotation of the winding drum 21, so that obvious traction assistance is provided for the traction cable 40 and a carrier loaded on the traction cable 40, and the electric power-assisted traction device can be widely used for assisting exercise training.
A third embodiment of the present invention provides a method for controlling an electric power traction apparatus, which is used for controlling the electric power traction apparatus in the above embodiments, and the method includes:
acquiring pressure data of the traction shaft pressed by the traction cable through a pressure sensor;
the pressure sensor sends pressure data to the controller;
and the controller adjusts the working parameters of the power motor according to the pressure data so as to change the traction assistance to the traction cable.
In the embodiment, under the boosting action of the power motor, neglecting the friction resistance of the rotary connection position of the winding reel, the load shaft and the traction shaft, the relationship between the load end pulling force Fi and the traction end pulling force Fo of the traction rope is expressed as:
in the formula, M is the assisting force moment transmitted to the bobbin by the power motor through the transmission assembly, r is the radius of the bobbin, namely the traction force of the bobbin to the traction cable is M/r, t is the proportional coefficient of the bobbin to the assisting force of the traction cable and the traction end tension of the traction cable, k is the comprehensive assisting force multiple, and when the traction end of the traction cable applies the Fi-sized tension, the traction force k times the Fi-sized traction force is obtained at the load end of the traction cable.
When two contact objects move relatively or have relative movement tendency, there is a friction coefficient mu between them. As shown in fig. 6, if the winding angle of the traction cable is θ, the traction cable is subjected to 4 forces, i.e., tension T (d θ), T (θ + d θ), normal force dN and friction force μ dN, the resultant force of the 4 forces is 0, and the tangential component and the normal component thereof are expressed as:
tangential component equation:
normal component equation:
because θ is small, where:
thus, the above formula can be rewritten as:
to obtain
Let θ corresponding to two points A, B on the bobbin be θ a and θ B, and integrate the above equation:
to obtain
Namely:
，TBfor traction end pull of the traction cable, TAThe tension of the load end of the traction rope is obtained;
namely:
thus, can obtain
。
In the embodiment, when the traction cable is in a tensioning state, the traction cable is pressed in the winding groove on the surface of the winding drum, and the traction cable and the winding drum are ensured not to slide relatively through static friction;
the relationship between the winding angle theta of the traction rope on the surface of the bobbin and the friction coefficient mu of the traction rope and the bobbin is as follows:
the control of the power motor uses a field direction control FOC algorithm, and the main task of the field direction control FOC algorithm is to obtain a user-defined voltage uq and continuously calculate appropriate phase voltages ua, ub and uc by reading the position of a motor rotor a. The input variables lq _ ref and ld _ ref of the controller are subjected to feedback regulation through a PID controller, and the regulation process involves Park conversion and Clark conversion. And finally, acting on the three-phase inverter through the SVPWM module to control the motor.
The controller adopts STM32 series single-chip microcomputer, the dominant frequency reaches 72MHz, STM32 type controller has three-stage assembly line, the instruction cycle is not fixed, ARM official authority shows that the instruction execution speed is 1.25MIPS/Mhz on average. STM32 adopts SPI protocol to communicate with pressure sensor, and SPI is the serial peripheral interface, is a high-speed, full duplex, synchronous communication bus. The speed of SPI is mainly influenced by CPU processing SPI data ability, and in this system, STM32 sampling pressure sensor only need do simple arithmetic operation after can export to motor drive, and pressure sampling and motor control update rate can satisfy the requirement that is greater than 1 KHz.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. An electric power assisted traction device, characterized in that the device comprises:
a frame;
the traction mechanism comprises a bobbin, a traction shaft and a load shaft, wherein the traction shaft and the load shaft are arranged on the periphery of the bobbin, the traction shaft and the load shaft are respectively and movably connected to the rack, and the traction mechanism also comprises mounting plates respectively arranged at two ends of the bobbin;
the power motor is arranged on the rack and is in transmission connection with the winding reel to provide traction assistance for the winding reel;
the traction cable is wound around the winding drum for at least one circle, the traction end of the traction cable penetrates through the traction shaft, and the load end of the traction cable penetrates through the load shaft;
the pressure sensor is arranged on one side of the rack, which is the same as the traction direction of the traction cable, and the measuring end of the pressure sensor is in contact with the surface of the traction shaft so as to obtain pressure data when the traction shaft is pressed;
the pressure sensor sends the pressure data to a controller, and the controller adjusts working parameters of the power motor according to the pressure data so as to change traction assistance on the traction cable;
in the device, a central shaft screw rod and two optical axis slide rails are arranged in the bobbin in a penetrating manner, two ends of the central shaft screw rod are respectively and fixedly connected to the mounting plate, one end, far away from the bobbin, of the mounting plate is rotatably connected to the frame, one of the mounting plate is in transmission connection with the power motor, the two optical axis slide rails are respectively arranged on two sides of the central shaft screw rod, a spiral winding groove is formed in the circumferential surface of the bobbin, the traction cable is wound in the winding groove, and the thread pitch of the winding groove is equal to that of the central shaft screw rod;
when the optical axis sliding rail is drawn, the bobbin rotates around the central axis screw rod, and slides along the optical axis sliding rail.
2. The electric power-assisted traction device of claim 1, wherein the traction shaft is provided with a traction wheel, the load shaft is provided with a load wheel, a traction end of the traction cable passes through the traction wheel and out of the frame, and a load end of the traction cable passes through the load wheel and out of the frame.
3. The electric power-assisted traction device of claim 1, wherein a mounting hole is formed in a side plate of the frame, the mounting hole is formed below a mounting position of the traction shaft, and the pressure sensor is arranged in the mounting hole.
4. An electric power-assisted traction device according to any one of claims 1 to 3, wherein the power motor is disposed inside the frame, an output shaft of the power motor penetrates through a side plate of the frame and is fixedly provided with a driving wheel at an end portion, a connecting shaft is disposed on one side of the mounting plate away from the bobbin, the connecting shaft penetrates through the side plate of the frame and is fixedly provided with a driven wheel at an end portion, and the driven wheel is connected with the driving wheel through a transmission member.
5. A method of controlling an electric power assisted traction device, for controlling an electric power assisted traction device according to any of claims 1-4, the method comprising:
acquiring pressure data of the traction shaft pressed by the traction cable through a pressure sensor;
the pressure sensor sends the pressure data to a controller;
and the controller adjusts the working parameters of the power motor according to the pressure data so as to change the traction assistance to the traction cable.
6. The control method of an electric power-assisted traction device according to claim 5, characterized in that, under the power assistance of the power motor, neglecting the frictional resistance of the bobbin, the load shaft and the traction shaft at the rotational connection position, the relationship between the traction rope load end tension Fi and the traction end tension Fo is expressed as:
M/r = t * Fi
Fo= Fi + M/r = (1+t) * Fi = k * Fi
in the formula, M is the assisting force moment transmitted to the bobbin by the power motor through the transmission assembly, r is the radius of the bobbin, namely the traction force of the bobbin to the traction cable is M/r, t is the proportional coefficient of the bobbin to the assisting force of the traction cable and the traction end tension of the traction cable, k is the comprehensive assisting force multiple, and when the traction end of the traction cable applies the Fi-sized tension, the traction force k times the Fi-sized traction force is obtained at the load end of the traction cable.
7. The method as claimed in claim 5, wherein when the traction cable is under tension, the traction cable is pressed into a winding groove on the surface of the bobbin, and the traction cable and the bobbin are ensured not to slide relatively through static friction;
the relation between the coiling angle theta of the traction rope on the surface of the bobbin and the friction coefficient mu of the traction rope and the bobbin is as follows: θ > (ln (Fo/Fi))/μ.
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| CN114069961B (en) * | 2021-12-22 | 2022-04-12 | 新乡玉镜智能科技有限公司 | Driving power assisting device of outer rotor motor |
| CN114470620B (en) * | 2022-03-28 | 2022-08-23 | 同济大学浙江学院 | Pull rope type three-dimensional trajectory tracking and force feedback rehabilitation training device and method thereof |
| WO2025005093A1 (en) * | 2023-06-27 | 2025-01-02 | 株式会社キトー | Hoisting machine and drive control method for hoisting machine |
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