A cable drive device, such as a joint or instrument of a computer-assisted manipulator system, may include a winch mechanism to wind/unwind a cable. The capstan mechanism includes a capstan having a groove in an outer surface of the capstan to guide a cable routed from the take-up pulley to be wound onto the capstan when the capstan rotates. The guide element is engaged with the groove. The guide element remains translationally stationary relative to the take-up pulley, while there is relative translation between the winch and both the guide element and the take-up pulley. Thus, when the winch rotates, the guide element engages the groove and forces the winch and the take-up pulley to translate relative to each other. This relative translation of the winch and the take-up pulley can prevent deviation of the take-up angle of the cable when the cable is wound onto the winch.
一种线缆驱动装置(诸如计算机辅助操纵器系统的关节或器械)可以包括绞盘机构以缠绕/退绕线缆。绞盘机构包括绞盘,该绞盘具有在绞盘的外表面中的凹槽,以在绞盘旋转时引导从卷取滑轮布线的线缆卷绕到绞盘上。引导元件与凹槽接合。引导元件相对于卷取滑轮保持平移静止,而绞盘与引导元件和卷取滑轮两者之间存在相对平移。因此,当绞盘旋转时,引导元件与凹槽接合并且迫使绞盘和卷取滑轮相对于彼此平移。当线缆卷绕到绞盘上时,绞盘和卷取滑轮的这种相对平移可以防止线缆的卷取角的偏离。
APPARATUS, SYSTEM AND METHOD FOR CONTROLLING A CABLE DRIVE MECHANISM
用于控制线缆驱动机构的装置、系统和方法
2023-10-10
Patent
Electronic Resource
Chinese
IPC: | B66D Haspeln , CAPSTANS |
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