Space reconfigurable mobile cable anchor point platform device and working method thereof

Abstract

The application discloses a kind of space reconfigurable mobile flexible cable anchor point platform device and working method thereof, device includes the lifting flexible cable drive rope anchor point support column module installed on omnidirectional mobile platform, 180 ° limit fixed flexible cable drive rope anchor point support column module and two groups of flexible cable rope drive module;One group of flexible cable rope drive module in which upper double cable drive rope extends downward to be fixedly connected to robot work platform after passing through the anchor point rotating pulley assembly in lifting flexible cable drive rope anchor point support column module, another group of flexible cable rope drive module in which lower double cable drive rope continues to extend upward to be fixedly connected to robot work platform after passing through the 180 ° limit anchor point pulley in 180 ° limit fixed flexible cable drive rope anchor point support column module, working method at least two groups of the space reconfigurable mobile flexible cable anchor point platform device of the application cooperate, realize the drive to robot work platform.The application realizes the purpose that large-scale space can be reconfigured.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a spatially reconfigurable mobile flexible cable anchor platform device and its operating method. Background Technology

[0002] A mobile flexible cable anchor platform is a device used to support mobile flexible cable parallel robots, designed to provide stability and controllability during robot movement. This platform possesses its own mobility, allowing for flexible repositioning within the working environment and supporting various robot movements and operations. Its main features include mobility and versatility. The mobile flexible cable anchor platform not only supports the robot's rigid components but also enables effective connection and movement with flexible components, thereby achieving precise control of the flexible cable portion.

[0003] Mobile cable-stayed parallel robots are a relatively new robotics technology that combines the characteristics of cable-stayed parallel mechanisms and mobile robots, offering advantages in flexibility and high degrees of freedom. Compared to traditional fixed-platform cable-stayed parallel robots, mobile cable-stayed parallel robots are more flexible and adaptable in applications. The background of this type of robot can be traced back to the need to handle complex environments and perform various tasks. Traditional fixed-platform cable-stayed parallel robots may be limited by workspace constraints or confined to specific scenarios. Mobile cable-stayed parallel robots, by introducing a movement mechanism into their structure, enable the robot to move and operate in different work environments, thereby expanding their application range.

[0004] The spatially reconfigurable mobile cable anchor platform provides essential support for the robot's motion and manipulation. Through the platform's stable support, the robot can maintain stability during movement, thereby achieving precise motion execution. It possesses the ability to adapt to diverse tasks. Through the platform's spatially reconfigurable design, the robot can adjust the platform's structure and functional combinations in real time according to different task requirements and working environments. This flexibility allows the robot to quickly adapt to different work scenarios and task requirements, expanding its application areas and task scope. The platform's reconfigurable design also enhances the robot's overall flexibility and adaptability, enabling it to achieve higher levels of task execution capabilities in different working scenarios.

[0005] However, existing mobile tethered anchor platforms still have some shortcomings in terms of mobility, spatial reconfiguration capabilities, and multi-anchor-point coordination. Traditional mobile platforms are often limited by their movement methods, making it difficult to achieve flexible movement in multiple directions. At the same time, the setting and adjustment of tethered anchor points also face many challenges, limiting the robot's application in complex environments. It is difficult to deploy operations at different work points over a wide range, and because the elevation of the anchor points is fixed, reconfigurable movement within confined spaces is impossible. When facing complex working environments, different frames often need to be selected based on the specific environment. Improving its reconfigurability requires changing the frame structure, which further complicates system control and reduces rigidity, among other problems.

[0006] Due to these drawbacks of mobile flexible cable anchor platforms, some reconfigurable mechanisms have emerged to improve their workspace mobility and optimize their reconfigurability. For example, Chinese invention patent application CN202110466483.4 describes a mobile electro-hydraulic composite-driven spraying robot with a large workspace. This mechanism features a large workspace and high flexibility, while avoiding interference between the drive rope and the workpiece. However, when changing the workspace, it cannot adjust the robot's body space, resulting in a fixed top anchor point and poor spatial adaptability. Furthermore, a fixed space has certain limitations for the anchor points of flexible cables, making it impossible to guarantee the spatial diversity of anchor point coordination. Chinese invention patent application number CN201410090629.X: An experimental platform for a modular reconfigurable flexible cable parallel mechanism. This invention has a variety of module types, which can realize the parallel connection of flexible cables with different degrees of freedom and variable parameters, realize high-load operation and high-performance motion output, and conduct operation experiments in a large-scale workspace. However, its modular mobility is limited to the overall work platform, and its adaptability in different environments is not high. It cannot simultaneously satisfy mobility and lifting, and cannot realize motion coordination under different degrees of freedom.

[0007] Therefore, it is necessary to research and develop a novel mobile flexible cable anchor platform device to improve its mobility, spatial reconfiguration capabilities, and multi-anchor point coordination possibilities. Such a device should possess omnidirectional mobility, an adaptive support mechanism, and flexible flexible cable drive rope anchor point settings to meet the needs of various application scenarios. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a spatially reconfigurable mobile flexible cable anchor platform device and its working method, so as to enable the mobile flexible cable parallel robot to have a large space and spatial reconfigurability, multi-degree-of-freedom motion, and avoid interference between the drive rope and the working platform.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0010] A spatially reconfigurable mobile flexible cable anchor point platform device includes an omnidirectional mobile platform (1), on which a lifting flexible cable drive rope anchor point support column module (3), a 180° limiting and fixing flexible cable drive rope anchor point support column module (5), and two sets of flexible cable drive modules (4) are installed.

[0011] The lifting flexible cable drive rope anchor point support column module (3) includes a lifting drive module (3001), a lifting column primary transmission module (3003), a lifting column secondary traction module (3004), a lifting column tertiary working support module (3006), and an anchor point rotating pulley assembly (3005); wherein:

[0012] The lifting drive module (3001) is installed on the omnidirectional moving platform (1). The lower end of the lifting column primary transmission module (3003) is fixed on the omnidirectional moving platform (1). The lifting column primary transmission module (3003) is equipped with a screw and slider mechanism. The screw and slider mechanism includes a primary transmission module screw (3210) and a secondary traction module guide slider (3204). The lifting drive module (3001) drives the primary transmission module screw (3210) in the screw and slider mechanism to rotate, so that the secondary traction module guide slider (3204) in the screw and slider mechanism moves up and down inside the lifting column primary transmission module (3003).

[0013] The lower end of the secondary traction module (3004) of the lifting column passes through the primary transmission module (3003) of the lifting column and is fixed on the guide slider (3204) of the secondary traction module. The upper end of the secondary traction module (3004) of the lifting column extends out from the upper end of the primary transmission module (3003). The lifting movement of the secondary traction module (3004) of the lifting column is equipped with the guide slider (3304) of the tertiary working module. The secondary traction module (3004) of the lifting column is also equipped with an upward running rope micro motor (3315) and a downward running rope micro motor (3314). The output shaft of the upward running rope micro motor (3315) is wound with the upward nylon running rope (3308) of the secondary traction module. The upward nylon running rope (3308) of the secondary traction module passes upward around the nylon running rope fixed inside the secondary traction module (3004) of the lifting column and located above the guide slider (3304) of the tertiary working module. After the double pulleys (3306), the rope extends downward to connect to the guide slider (3304) of the third-level working module; the output shaft of the descending rope micro motor (3314) is wound with the descending nylon rope (3301) of the second-level traction module. The descending nylon rope (3301) of the second-level traction module passes down around the nylon rope pulley (3208) fixed inside the second-level traction module (3004) of the lifting column and located below the guide slider (3304) of the third-level working module, and then extends upward to connect to the guide slider (3304) of the third-level working module; the ascending rope micro motor (3315) and the descending rope micro motor (3314) pull the guide slider (3304) of the third-level working module from above and below respectively through their respective nylon ropes, thereby realizing the lifting and lowering movement of the guide slider (3304) of the third-level working module inside the second-level traction module (3004) of the lifting column;

[0014] The lower end of the three-stage working support module (3006) of the lifting column is inserted into the lower two-stage traction module (3004) of the lifting column and fixed on the guide slider (3304) of the three-stage working module. The upper end of the three-stage working support module (3006) of the lifting column extends out from the upper end of the two-stage traction module (3004) of the lifting column.

[0015] The anchor point rotating pulley assembly (3005) is rotatably mounted on the upper end of the three-stage working support module (3006) of the lifting column via an axially vertical rotating shaft;

[0016] The 180° limiting and fixing flexible cable drive rope anchor point support column module (5) includes a drive motor (5001) and a 180° limiting anchor point pulley seat (5202). An axially horizontal 180° limiting anchor point pulley (5203) is rotatably installed in the 180° limiting anchor point pulley seat (5202). The 180° limiting anchor point pulley seat (5202) is rotatably installed on the omnidirectional moving platform (1) through an axially vertical working platform transmission shaft (5201). The drive motor (5001) is installed on the omnidirectional moving platform and drives the working platform transmission shaft (5201) to rotate. The height of the 180° limiting anchor point pulley seat (5202) is lower than the height of the anchor point rotating pulley assembly (3005).

[0017] In the two sets of flexible rope drive modules (4), one set of flexible rope drive modules has an upper double rope drive rope (12) wound up and installed, and the other set of flexible rope drive modules has a lower double rope drive rope (15) wound up and installed. The upper double rope drive rope (12) goes up around the anchor point rotating pulley assembly (3005) and then extends down to be fixedly connected to the robot work platform (13). The lower double rope drive rope (15) goes up around the 180° limiting anchor point pulley (5203) and then continues to extend up to be fixedly connected to the robot work platform (13).

[0018] Furthermore, the omnidirectional moving platform (1) is a Mecanum wheel omnidirectional moving platform.

[0019] Furthermore, the omnidirectional mobile platform (1) is configured with multiple sets of connecting plates (2102), each set of connecting plates (2102) has an adaptive hydraulic support column (2101) vertically fixed at one end, and the other end of each set of connecting plates (2102) is rotatably connected to the side of the omnidirectional mobile platform (1) through an axially vertical connecting plate rotation shaft (2105).

[0020] Furthermore, the omnidirectional mobile platform (1) is also equipped with a multi-gear transmission mechanism driven by a drive motor (2201). Each of the last gears in the multi-gear transmission mechanism is fixed to the rotating shaft (2105) of the connecting plate in a one-to-one correspondence. The drive motor (2201) drives each rotating shaft (2105) of the connecting plate to rotate synchronously through the multi-gear transmission mechanism.

[0021] Furthermore, in the secondary traction module (3004) of the lifting column, the rising nylon running rope (3308) and the descending nylon running rope (3301) of the secondary traction module are respectively connected to the guide slider (3304) of the tertiary working module through traction springs.

[0022] Furthermore, tension sensors are respectively connected and installed in the rising nylon running rope (3308) of the secondary traction module and the descending nylon running rope (3301) of the secondary traction module.

[0023] Furthermore, the 180° limiting and fixing flexible cable drive rope anchor point support column module (5) also includes a 180° limiting anchor point main drive shaft bevel gear (5104), a limiting bevel gear (5102), and a working platform drive shaft bevel gear (5103). The 180° limiting anchor point main drive shaft bevel gear (5104) and the limiting bevel gear (5102) are respectively rotatably mounted on the gearbox (5006) through a horizontally axial gear shaft. The output shaft of the drive motor (5001) is coaxially connected to the 180° limiting anchor point main drive shaft bevel gear (5104). The working platform drive shaft bevel gear (5103) is fixed on the working platform drive shaft (5201), and the working platform drive shaft bevel gear (5103) simultaneously engages with the 180° limiting anchor point main drive shaft bevel gear (5104) and the limiting bevel gear (5102).

[0024] A method for operating the aforementioned spatially reconfigurable mobile flexible cable anchor platform device, wherein at least two sets of spatially reconfigurable mobile flexible cable anchor platform devices cooperate to drive the robot work platform (13), the process is as follows:

[0025] Step 1: System initialization, determine the position of the omnidirectional moving platform (1) in each group of reconfigurable mobile flexible cable anchor point platform devices, determine the moving target position parameters, and input them into the host computer of the control system;

[0026] Step 2: Obtain the spatial environment of each set of reconfigurable mobile flexible cable anchor point platform devices under the current state using lidar and vision sensors, and establish the target path;

[0027] Step 3: The pressure sensor at the bottom of the adaptive hydraulic support column (2101) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices determines the current pressure value, adjusts the hydraulic support height of the adaptive hydraulic support column (2101) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices, and then returns the pressure sensor to zero.

[0028] Step 4: Drive the motor (2201) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices to drive the rotating shaft (2105) of each connecting plate through a one-to-many gear transmission mechanism, thereby causing the connecting plate (2102) together with the adaptive hydraulic support column (2101) to retract to the side of the omnidirectional mobile platform (1).

[0029] Step 5: Make the omnidirectional mobile platform (1) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices travel according to the predetermined target path. The lidar obtains the obstacle limit height in the target path and determines whether the lifting flexible cable drive rope anchor point support column module (3) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices can pass through.

[0030] If it cannot pass, according to the obstacle limit height, in each set of spatially reconfigurable mobile flexible cable anchor point platform devices, the lifting drive module (3001) in the lifting flexible cable drive rope anchor point support column module (3) drives the first-level transmission module screw (3210) to rotate to adjust the height of the second-level traction module (3004) of the lifting column. The height of the third-level working support module (3006) of the lifting column is adjusted by the operation of the rising running rope micro motor (3315) and the descending running rope micro motor (3314) until the overall height of the lifting flexible cable drive rope anchor point support column module (3) is adjusted to be able to pass.

[0031] Step 6: Determine whether the omnidirectional moving platform (1) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices has reached the target position. If it has, end the moving part; otherwise, return to step 5 and continue moving.

[0032] Step 7: In each set of spatially reconfigurable mobile flexible cable anchor point platform devices, the lifting drive module (3001) in the lifting flexible cable drive rope anchor point support column module (3) is activated, the rising running rope micro motor (3315) and the descending running rope micro motor (3314) are activated, and the height of the lifting flexible cable drive rope anchor point support column module (3) is adjusted to the working state.

[0033] Step 8: Calculate the anchor platform pressure by measuring the data from the tension sensor in the secondary traction module (3004) of the lifting column in each set of reconfigurable mobile flexible cable anchor platform devices, and determine whether the anchor height is accurate. If it is not accurate, adjust the length of the nylon running rope by using the rising running rope micro motor (3315) and the descending running rope micro motor (3314) in the secondary traction module (3004).

[0034] Step 9: Perform the following three working modes as needed:

[0035] i: Fixed workspace mode:

[0036] Fix the omnidirectional moving platform (1) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices, and drive the rotating shaft (2105) of each connecting plate to rotate through the drive motor (2201), so that the connecting plate (2102) together with the adaptive hydraulic support column (2101) unfolds from the side of the omnidirectional moving platform (1), and the adaptive hydraulic support column (2101) is lowered. The level is used to determine whether the device is level. Otherwise, the pressure sensor at the bottom of the four adaptive hydraulic support columns (2101) is adjusted to transmit the value, so that each set of spatially reconfigurable mobile flexible cable anchor point platform devices keeps working horizontally, and the flexible cable drive module (4) controls the corresponding double cable drive rope to work, so as to control the pose of the robot work platform (13) connected to the end.

[0037] ii: Mobile workspace mode:

[0038] The drive motor (2201) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices is activated, causing the connecting plate (2102) together with the adaptive hydraulic support column (2101) to retract to the side of the omnidirectional mobile platform (1), and causing the adaptive hydraulic support column (2101) to rise. The pressure sensor on the adaptive hydraulic support column (2101) is reset to zero, and then the omnidirectional mobile platform (1) is moved. The flexible cable drive module (4) is locked. The position of the robot work platform (13) connected to the ends of the upper and lower double cable drive ropes (12) and (15) is controlled by the movement of the body of the omnidirectional mobile platform (1).

[0039] iii: Mobile workspace mode:

[0040] The drive motor (2201) in each set of reconfigurable mobile flexible cable anchor platform devices is activated, causing the connecting plate (2102) and the adaptive hydraulic support column (2101) to retract to the side of the omnidirectional moving platform (1), and the adaptive hydraulic support column (2101) is raised. The pressure sensor of the adaptive hydraulic support column (2101) is zeroed, and then the omnidirectional moving platform (1) is moved. The length of the double cable drive rope is controlled by the flexible cable drive module (4). The position of the double cable drive rope is controlled by the distance between the omnidirectional moving platforms (1) to compensate for the tension of the rope, so as to achieve a more reasonable tension distribution. The position difference between the zero moment point position and the center of gravity of the omnidirectional moving platform (1) is controlled, so that the omnidirectional moving platform (1) can achieve a larger working space in the non-slip and tilting state.

[0041] Step 10: The flexible rope drive module (4) in each set of spatially reconfigurable mobile flexible rope anchor point platform devices drives the corresponding double-rope drive rope to change its length, and controls the movement of the robot work platform (13) connected to the end of the double-rope drive rope to complete the current workspace task; during operation, data is collected and output to the host computer through the tension sensor, external rotation sensor and vision sensor, thereby controlling the adaptive hydraulic support column (2101) and the flexible rope drive module (4) to adjust, prevent the mechanism from tipping over, and ensure that there is no interference in the workspace;

[0042] Step 11: Determine if the current task is completed. If it is, end the task; otherwise, return to step 8 and start again until the task in the space is completed.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0044] 1. The present invention integrates the flexible cable anchor platform onto the Mecanum wheel mobile base, enabling the anchor platform to move within a large space, simplifying the assembly and disassembly of the flexible cable mechanism, and realizing the reconfigurability of the spatial position of the mobile flexible cable anchor platform.

[0045] 2. This invention combines anchor platform device 1 and anchor platform device 2. The upper double cables connect to the upper anchor points of the traction working platform, controlling the platform's movement in the xz / yz plane. The lower double cables connect to the lower anchor points of the traction working platform, controlling its rotational movement. The movement of anchor platform devices 1 and 2 works in coordination to control the platform's xy-plane movement, significantly increasing the workspace of the flexible cable parallel robot and realizing its multi-directional, multi-dimensional spatial reconfigurability.

[0046] 3. This invention designs a flexible cable anchor point as a liftable platform by using a ball screw mechanism in conjunction with a double pulley nylon running rope. The lifting platform carries the upper cable anchor point of the flexible cable parallel robot, making the height of the flexible cable parallel robot controllable, enhancing the robot's passability in complex environments, providing linear variable elevation for the upper cable anchor point, improving the overall flexibility of the robot, and realizing the reconfigurability of the height space of the mobile flexible cable anchor point platform.

[0047] 4. This invention designs a secondary traction module in a rigid-flexible coupling form by using a micro-motor in conjunction with a traction spring and a nylon running rope. The nylon running rope is controlled collaboratively by the traction spring and the micro-motor, allowing the secondary traction module to control the micro-motion height of the anchor platform in real time through data from the tension sensor. This maintains the height accuracy and real-time level of the anchor point during operation, enhances the overall stability of the device platform, and realizes the reconfigurability of the rigid-flexible coupling of the anchor platform device.

[0048] 5. The present invention is designed to provide the flexible cable anchor platform with the ability of a single motor to drive four rotary joints through the bottom one-to-four bevel gear cooperation, so that the four hydraulic support columns can retract and extend at the same time, which enhances the collaborative working ability between the anchor platform and the hydraulic support, and realizes the reconfigurability of the flexible cable anchor platform during the movement process.

[0049] 6. The present invention uses an adaptive hydraulic support column combined with an extendable hydraulic support platform to provide stability assurance for the mobile base in the working state, so that the mobile base can adjust the level of the operating platform in a non-planar state, which enhances the control accuracy of the mobile flexible cable anchor platform and realizes the adaptability of the mobile flexible cable anchor platform under complex working conditions.

[0050] 7. The present invention designs a flexible cable anchor point platform with a 180° limiting and fixing of the lower cable anchor point, which restricts the cable outlet direction of the flexible cable anchor point to always facing the end operation platform. This enables flexible change of direction of the flexible cable drive rope at the anchor point, effectively avoiding interference between the cable and the robot body, and between cables during working and moving. This improves the applicability of the flexible cable anchor point platform and realizes the reconfigurability of the mobile flexible cable anchor point platform during movement. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0052] Figure 2 This is a schematic diagram of the reconstructed flexible cable anchor point platform.

[0053] Figure 3 This is a schematic diagram of a mobile base module.

[0054] Figure 4 This is a diagram of the Mecanum wheel system and its installation components.

[0055] Figure 5 This is a schematic diagram of the adaptive hydraulic base support column module.

[0056] Figure 5a This is an exploded view of a single hydraulic strut in conjunction with an adaptive hydraulic support module.

[0057] Figure 5b This is a schematic diagram of the adaptive hydraulic support module drive transmission.

[0058] Figure 5c This is a schematic diagram of the gear engagement of the adaptive hydraulic support module.

[0059] Figure 6 This is a schematic diagram of the liftable anchor point module.

[0060] Figure 7 This is a schematic diagram of the drive section of the liftable anchor point module.

[0061] Figure 8 This is a schematic diagram of the transmission part of the liftable anchor point module.

[0062] Figure 9a This is a schematic diagram of the lifting anchor point module's traction section.

[0063] Figure 9b This is a schematic diagram of the rigid-flexible coupling of the traction part of the liftable anchor point module.

[0064] Figure 10 This is a schematic diagram of the working anchor point part of the liftable anchor point module.

[0065] Figure 11 This is a schematic diagram of a rope-driven module winch.

[0066] Figure 12 This is a schematic diagram of the 180° limiting anchor point module.

[0067] Figure 13 This is a schematic diagram of the drive transmission part of the 180° limit anchor point module.

[0068] Figure 14 This is a schematic diagram of the working part of the 180° limit anchor point module.

[0069] Figure 15 This is a flowchart of the working method of this embodiment.

[0070] The reference numerals in each figure are as follows:

[0071] Figure 1 : Omnidirectional moving platform-1, Adaptive base hydraulic support column module-2, Lifting flexible cable drive rope anchor point support column module-3, Flexible cable drive module-4, 180° limiting and fixing flexible cable drive rope anchor point support column module-5.

[0072] Figure 2 : 11. Mobile flexible cable anchor point platform device for space reconstruction 1, 12. Upper double cable drive rope, 13. Robot work platform, 14. Mobile flexible cable anchor point platform device for space reconstruction 2, 15.

[0073] Figure 3 Mecanum wheel drive module-1001, adaptive hydraulic support column assembly-2001, base platform frame-1002.

[0074] Figure 4 Drive motor-1101, motor reducer-1102, bearing housing cover-1103, bearing housing-1104, roller shaft end retaining ring-1105, roller-1106, Mecanum wheel-1107;

[0075] Figure 5Adaptive hydraulic support column assembly-2001, Adaptive hydraulic support column drive transmission module-2002;

[0076] Figure 5a : Adaptive hydraulic support column-2101, connecting plate-2102, upper bearing pressure plate of connecting shaft-2103, deep groove ball bearing-2104, connecting plate rotating shaft-2105, connecting rotating shaft bevel gear-2106, transmission shaft bevel gear-2107, lower gearbox of connecting rotating shaft-2108, transmission shaft bearing pressure plate-2109, deep groove ball bearing-2110, lower bearing pressure plate of connecting shaft-2111, deep groove ball bearing-2112;

[0077] Figure 5b Drive motor-2201, one-to-four main drive bevel gear module-2202, secondary drive spur gear module-2203, connecting plate rotating shaft-2105, connecting rotating shaft bevel gear-2106;

[0078] Figure 5c : One-to-four main drive bevel gear-2301, first-stage drive bevel gear-2302, main drive shaft-2303, second-stage drive spur gear b-2304, connecting rotating shaft bevel gear-2106, drive shaft bevel gear-2107, second-stage drive shaft-2305, second-stage drive spur gear a-2306, first-stage auxiliary drive bevel gear-2307, auxiliary drive shaft-2308;

[0079] Figure 6 : Lifting drive module-3001, Lifting column support guard plate-3002, Lifting column primary transmission module-3003, Lifting column secondary traction module-3004, Anchor point rotating pulley block-3005, Lifting column tertiary working support module-3006;

[0080] Figure 7 Drive motor-3101, motor mounting bracket-3102, coupling-3103, worm gear transmission gearbox-3104, bearing pressure plate-3105, deep groove ball bearing-3106, transmission worm-3107, transmission turbine-3108;

[0081] Figure 8 : Turbine upper bearing pressure plate-3201, primary transmission module lower cover plate-3202, primary transmission module support column a-3203, secondary traction module guide inner slider-3204, secondary traction module lower cover plate-3205, micro motor base-3206, primary transmission module lead screw upper seat-3207, nylon running rope lower pulley-3208, primary transmission module support column b-3209, primary transmission module lead screw-3210, deep groove ball bearing-3211, lead screw fastening sleeve-3212;

[0082] Figure 9a: Secondary traction module descending nylon running rope - 3301, primary transmission module upper guide block - 3302, secondary traction module support column a - 3303, tertiary working module guide inner slider - 3304, tertiary working module lower cover plate - 3305, nylon running rope upper double pulley - 3306, secondary traction module upper guide block - 3307, secondary traction module ascending nylon running rope - 3308, secondary traction module support column b - 3309;

[0083] Figure 9b : Nylon running rope lower pulley-3208, secondary traction module lowering nylon running rope-3301, tertiary working module guide inner slider-3304, tertiary working module lower cover plate-3305, nylon running rope upper double pulley-3306, secondary traction module rising nylon running rope-3308, lowering running rope tension sensor-3310, lowering running rope traction spring-3311, rising running rope traction spring-3312, rising running rope tension sensor-3313, lowering running rope micro motor-3314, rising running rope micro motor-3315;

[0084] Figure 10 : Deep groove ball bearing-3401, lifting anchor pulley seat-3402, lifting anchor pulley-3403, bearing cover plate-3404, three-stage working platform cover plate-3405;

[0085] Figure 11 Small pulley a-4001, tensioner-4002, small pulley b-4003, cable spool-4004, coupling-4005, drive motor-4006, flexible cable steering pulley a-4007, flexible cable steering pulley b-4008;

[0086] Figure 12 Drive motor-5001, coupling-5002, connecting shaft-5003, bearing pressure plate-5004, 180° limit anchor point working platform assembly-5005, triple bevel gearbox-5006;

[0087] Figure 13 : Three-link bevel gear connecting deep groove ball bearing-5101, limiting bevel gear-5102, working platform drive shaft bevel gear-5103, 180° limiting anchor point main drive shaft bevel gear-5104;

[0088] Figure 14 : Work platform drive shaft-5201, 180° limit anchor pulley seat-5202, 180° limit anchor pulley-5203. Detailed Implementation

[0089] To enable those skilled in the art to better understand the present invention, the embodiments will be described in detail below with reference to the accompanying drawings and examples. This will allow for a full understanding of how the present invention uses technical means to solve technical problems and achieve corresponding technical effects, and to facilitate its implementation. The embodiments of the present invention and the various features within them can be combined with each other without conflict, and all resulting technical solutions are within the protection scope of the present invention.

[0090] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0091] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion.

[0092] like Figure 1 As shown, this embodiment discloses a spatially reconfigurable mobile flexible cable anchor point platform device, including an omnidirectional mobile platform 1. The omnidirectional mobile platform 1 is equipped with a lifting flexible cable drive rope anchor point support column module 3, a 180° limiting and fixing flexible cable drive rope anchor point support column module 5, and two sets of flexible cable drive modules 4. The omnidirectional mobile platform 1 is also configured with an adaptive base hydraulic support column module 2, wherein:

[0093] like Figure 3 , Figure 4 As shown, the omnidirectional mobile platform 1 in this embodiment is a Mecanum wheel omnidirectional mobile platform, which includes a base platform frame 1002. Two sets of Mecanum wheel drive modules 1001 are respectively installed on each of the two symmetrical sides of the base platform frame 1002. Each set of Mecanum wheel drive modules 1001 includes a drive motor 1101 installed on the corresponding side of the base platform frame 1002, a bearing chamber 1104 with a bearing chamber cover 1103 installed on the corresponding side of the base platform frame 1002, and a Mecanum wheel 1107. In each set of Mecanum wheel drive modules 1001, the hub of the Mecanum wheel 1107 is rotatably mounted with rollers 1106 through multiple sets of roller shaft end retaining rings. The wheel axle of the Mecanum wheel 1107 is rotatably mounted in the bearing in the bearing chamber 1104. The output shaft of the drive motor 1101 is connected to the wheel axle of the Mecanum wheel 1107 in the bearing chamber 1104 through a motor reducer 1102. Thus, the Mecanum wheel 1107 is driven to rotate by the drive motor 1101 in the four Mecanum wheel drive modules 1001, thereby realizing the omnidirectional movement of the omnidirectional mobile platform 1.

[0094] In this embodiment, the adaptive base hydraulic support column module 2 includes multiple sets of adaptive hydraulic support column assemblies 2001 and an adaptive hydraulic support column drive transmission module 2002. This embodiment uses four sets of adaptive hydraulic support column assemblies 2001 as an example for explanation. Two sets of adaptive hydraulic support column assemblies 2001 are installed on each of the two symmetrical sides of the omnidirectional moving platform 1, and the four sets of adaptive hydraulic support column assemblies 2001 are distributed diagonally in pairs. The adaptive hydraulic support column drive transmission module 2002 is installed at the bottom of the omnidirectional moving platform 1.

[0095] Specific examples Figure 5a As shown, in this embodiment, each set of adaptive hydraulic support column assemblies 2001 includes a connecting plate 2102. One end of the connecting plate 2102 is vertically fixed with an adaptive hydraulic support column 2101, and the other end of the connecting plate 2102 is through-mounted with a connecting plate drive shaft 2105. The omnidirectional moving platform 1 has two sets of grooves on its corresponding side for the adaptive hydraulic support columns 2101, connecting plates 2102, and connecting plate drive shafts 2105 in the corresponding two sets of adaptive hydraulic support column assemblies 2001 to be integrally embedded and installed.

[0096] In each set of adaptive hydraulic support column assemblies 2001, the upper end of the connecting plate drive shaft 2105 is rotatably mounted at the top position in the groove through an upper bearing assembly consisting of an upper bearing pressure plate 2103 and a deep groove ball bearing 2104, and the lower end of the connecting plate drive shaft 2105 is rotatably mounted at the bottom position in the groove through a lower bearing assembly consisting of a lower bearing pressure plate 2111 and a deep groove ball bearing 2112. At the bottom of the omnidirectional moving platform 1, corresponding to the position of each connecting plate drive shaft 2105, a connecting rotating shaft lower gearbox 2108 is fixed. Inside each connecting rotating shaft lower gearbox 2108, an axially horizontal drive shaft bevel gear 2107 is rotatably mounted through a bearing assembly composed of a drive shaft bearing pressure plate 2109 and a deep groove ball bearing 2110. The lower end of each connecting plate drive shaft 2105 passes through the corresponding connecting rotating shaft lower gearbox 2108, and the portion of each connecting plate drive shaft 2105 located inside the connecting rotating shaft lower gearbox 2108 is coaxially fixed with a connecting rotating shaft bevel gear 2106, and the connecting rotating shaft bevel gear 2106 and the drive shaft bevel gear 2107 mesh with each other. Therefore, when the drive shaft bevel gear 2107 rotates, it drives the connecting plate drive shaft 2105 to rotate through the connecting rotating shaft bevel gear 2106. When the connecting plate drive shaft 2105 rotates, the connecting plate 2102, together with the adaptive hydraulic support column 2101, can be extended from the side groove of the omnidirectional moving platform 1 or retracted back into the groove. Furthermore, by hydraulically controlling the adaptive lifting and lowering of the adaptive hydraulic support column 2101, the lower end of the adaptive hydraulic support column 2101 abuts against the ground, thus providing support. This reduces the support force between the Mecanum wheel and the working ground in the omnidirectional moving platform 1, enhancing the stability of the mechanism.

[0097] like Figure 5 , 5aAs shown in 5b and 5c, the adaptive hydraulic support column drive transmission module 2002 of this embodiment includes a chamber fixed to the bottom of the omnidirectional moving platform 1. A drive motor 2201 is fixedly installed in the chamber. A one-to-many main drive bevel gear module is also rotatably installed in the chamber. This embodiment corresponds to four sets of adaptive hydraulic support column assemblies 2001. The one-to-four main drive bevel gear module 2202 is used as an example for explanation. The four-way main drive bevel gear module 2202 includes a four-way main drive bevel gear 2301 coaxially fixed on the output shaft of the drive motor 2201, and a first-stage drive bevel gear 2302 rotatably mounted on two symmetrical sides of the chamber and axially perpendicular to the side of the chamber, and a first-stage auxiliary drive bevel gear 2307 rotatably mounted on the other two symmetrical sides of the chamber and axially perpendicular to the side of the chamber. The four-way main drive bevel gear 2301 is respectively engaged with two first-stage drive bevel gears 2302 and two first-stage auxiliary drive bevel gears 2307, so that the drive motor 2201 can simultaneously drive the two first-stage drive bevel gears 2302 and the two first-stage auxiliary drive bevel gears 2307 to rotate through the four-way main drive bevel gear 2301.

[0098] Two primary auxiliary transmission bevel gears 2307 are coaxially connected to the transmission shaft bevel gears 2107 in two sets of adaptive hydraulic support column assemblies 2001 that are diagonally distributed, via auxiliary transmission shafts 2308. Thus, when the two primary auxiliary transmission bevel gears 2307 rotate, they can drive the transmission shaft bevel gears 2107 in the corresponding set of adaptive hydraulic support column assemblies 2001 to rotate through the corresponding auxiliary transmission shafts 2308, thereby causing the bevel gears 2106 connecting the rotating shaft and the transmission shaft 2105 of the connecting plate in the corresponding set of adaptive hydraulic support column assemblies 2001 to rotate synchronously as a whole.

[0099] At the bottom of the omnidirectional mobile platform 1, corresponding to the position in front of each primary transmission bevel gear 2302, a secondary transmission spur gear module 2203 is fixed. Each secondary transmission spur gear module 2203 includes a gear housing and a secondary transmission spur gear b2304 and a2306 rotatably mounted horizontally within the gear housing. The secondary transmission spur gears b2304 and a2306 mesh with each other, wherein the secondary transmission spur gear 2304b is coaxially connected to the corresponding primary transmission bevel gear 2302 via the main drive shaft 2303. Thus, the rotational movement of each primary transmission bevel gear 2302 can be transmitted to the secondary transmission spur gear a2306 through the secondary transmission spur gear b2304 in the corresponding secondary transmission spur gear module 2203.

[0100] Two secondary transmission spur gears a2306 are coaxially connected to the transmission shaft bevel gears 2107 in the other two sets of adaptive hydraulic support column assemblies 2001, which are diagonally distributed, via secondary transmission shafts 2305. Thus, when each primary transmission bevel gear 2302 rotates, it causes the transmission shaft bevel gear 2107 in the corresponding set of adaptive hydraulic support column assemblies 2001 to rotate through the secondary transmission spur gears 2304 and a2306 in the corresponding secondary transmission spur gear module 2203. This, in turn, causes the connecting rotating shaft bevel gear 2106 and the connecting plate transmission shaft 2105 in the corresponding set of adaptive hydraulic support column assemblies 2001 to rotate synchronously as a whole.

[0101] Therefore, in this embodiment, the one-to-four main transmission bevel gear module 2202, auxiliary transmission shaft 2308, secondary transmission spur gear module 2203, main transmission shaft 2303, and secondary transmission shaft 2305 in the adaptive hydraulic support column drive transmission module 2002 constitute a one-to-many gear transmission mechanism. The drive motor 2201 in the adaptive hydraulic support column drive transmission module 2002 drives four sets of adaptive hydraulic support column assemblies 2001 to extend or retract on the side of the omnidirectional moving platform 1 through the one-to-many gear transmission mechanism, and the adaptive hydraulic support column 2101 in the adaptive hydraulic support column assembly 2001 plays a ground support role.

[0102] like Figure 6 , Figure 7 , Figure 8 , Figure 9a , Figure 9b , Figure 10 As shown, in this embodiment, the lifting flexible cable drive rope anchor point support column module 3 includes a lifting drive module 3001, a lifting column primary transmission module 3003, a lifting column secondary traction module 3004, a lifting column tertiary working support module 3006, and an anchor point rotating pulley assembly 3005, wherein:

[0103] The lifting drive module 3001 is installed inside the omnidirectional moving platform 1. The lifting drive module 3001 includes a worm gear transmission gearbox 3104. A vertically axially vertical transmission worm wheel 3108 and a horizontally axial transmission worm 3107 are rotatably mounted inside the worm gear transmission gearbox 3104. The transmission worm 3107 and the transmission worm wheel 3108 mesh with each other. Specifically, the wheel axis at the center of the transmission worm wheel 3108 extends upward to a bearing rotatably mounted at the top of the worm gear transmission gearbox 3104. A worm upper bearing pressure plate 3201 covers the top bearing of the worm gear transmission gearbox 3104. One end of the transmission worm 3107 is rotatably mounted in a bearing consisting of a bearing pressure plate 3105 and a deep groove ball bearing 3106 on the corresponding side of the worm gear transmission gearbox 3104. The other end of the transmission worm 3107 extends out of the worm gear transmission gearbox 3104. The worm gear transmission gearbox 3104 is connected to a motor mounting bracket 3102 on the side corresponding to the other end of the transmission worm 3107 extending outwards. A drive motor 3101 is fixedly mounted on the motor mounting bracket 3102, and the output shaft of the drive motor 3101 is connected to the other end of the transmission worm 3107 extending outwards via a coupling 3103. Thus, when the drive motor 3101 drives the transmission worm 3107 to rotate, the transmission worm wheel 3108 can rotate.

[0104] The primary transmission module 3003 of the lifting column is installed on the top of the omnidirectional moving platform 1 at the position of the transmission worm gear 3108 inside the worm gear transmission gearbox 3104 in the lifting drive module 3001. Specifically, the primary transmission module 3003 of the lifting column includes a vertical cylinder. The lower end of the cylinder is fixedly covered with a lower cover plate 3202 of the primary transmission module, and the upper end of the cylinder is open as a cylinder opening. An annular upper guide block 3302 of the primary transmission module is coaxially fixedly connected to the cylinder opening. The lower cover plate 3202 of the primary transmission module is fixed on the top of the omnidirectional moving platform 1 at the position corresponding to the transmission worm gear 3108. Furthermore, the lower circumferential side of the cylinder is connected to the top of the omnidirectional moving platform 1 through several lifting column support plates 3002. The lifting column support plates 3002 act as diagonal braces to improve the overall stability of the primary transmission module 3003 of the lifting column.

[0105] Inside the cylinder, on the lower cover plate 3202 of the primary transmission module, are fixedly connected upwardly extending primary transmission module support columns a3203 and b3209. A primary transmission module lead screw upper seat 3207 is also provided inside the cylinder, fixed to the upper ends of the primary transmission module support columns a3203 and b3209, and jointly supported by the primary transmission module support columns a3203 and b3209. An axially vertical primary transmission module lead screw 3210 is rotatably mounted between the primary transmission module lead screw upper seat 3207 and the lower cover plate 3202. Specifically, deep groove ball bearings 3211 are fixedly mounted in the primary transmission module lead screw upper seat 3207 and at the bottom of the lower cover plate 3202, respectively, and the primary transmission module lead screw 3210 is rotatably mounted in the deep groove ball bearings 3211. A ring-shaped guide slider 3204 of the secondary traction module is vertically slidably mounted on the primary transmission module support column a3203 and the primary transmission module support column b3209. The guide slider 3204 of the secondary traction module is assembled to the primary transmission module screw 3210 through the central threaded hole. The screw 3210 of the primary transmission module, the guide slider 3204 of the secondary traction module, the primary transmission module support column a3203, and the primary transmission module support column b3209 constitute the screw-slider mechanism.

[0106] The lower end of the lead screw 3210 of the first-stage transmission module passes through the deep groove ball bearing 3211 at the bottom of the lower cover plate 3202 of the first-stage transmission module and extends into the omnidirectional moving platform 1, and then passes through the upper bearing pressure plate 3201 of the turbine. The axle of the transmission worm gear 3108 is coaxially and fixedly connected to the lead screw fastening sleeve 3212. The lower end of the lead screw 3210 of the first-stage transmission module is fixedly installed in the lead screw fastening sleeve 3212, thereby enabling the transmission worm gear 3108 to be connected to the lead screw 3210 of the first-stage transmission module.

[0107] When the drive motor 3101 drives the transmission worm gear 3108 to rotate, it can cause the lead screw 3210 of the first-stage transmission module in the first-stage transmission module 3003 of the lifting column to rotate, thereby causing the guide slider 3204 of the second-stage traction module in the first-stage transmission module 3003 of the lifting column to move up and down.

[0108] The secondary traction module 3004 of the lifting column includes a vertical cylinder. The lower end of the cylinder extends from the upper end of the cylinder of the primary transmission module 3003 into the cylinder body of the primary transmission module 3003, and extends downward to below the upper screw seat 3207 of the primary transmission module, so that the upper screw seat 3207 of the primary transmission module is accommodated in the cylinder. The upper end of the cylinder is located above the cylinder body of the primary transmission module 3003, and a ring-shaped upper guide block 3307 of the secondary traction module is coaxially and fixedly connected to the upper end of the cylinder. The lower end of the straight cylinder is fixedly connected to the lower cover plate 3205 of the secondary traction module. The lower cover plate 3205 of the secondary traction module is fixedly closed on the guide slider 3204 of the secondary traction module in the primary transmission module 3003 of the lifting column. The lower cover plate 3205 of the secondary traction module has a central through hole for the lead screw 3210 of the primary transmission module to pass through, and through holes for the support column a3203 and the support column b3209 of the primary transmission module to pass through. Inside the straight cylinder, on the lower cover plate 3205 of the secondary traction module, a micro motor base 3206 is fixedly installed. The micro motor base 3206 contains a rising rope running micro motor 3315 and a descending rope running micro motor 3314, which are horizontally aligned and arranged side by side. Inside the straight cylinder, on the lower cover plate 3205 of the secondary traction module, a lower slide wheel base is fixedly installed. A nylon rope running lower slide wheel 3208, which is horizontally aligned, is rotatably installed in the lower slide wheel base. The height of the rising rope running micro motor 3315 and the descending rope running micro motor 3314 is higher than the height of the nylon rope running lower slide wheel 3208.

[0109] The lower cover plate 3205 of the secondary traction module is also fixedly connected to an upwardly extending secondary traction module support column a3303 and a secondary traction module support column b3309. An upper double pulley seat is also installed inside the straight cylinder, fixed to the upper ends of the secondary traction module support columns a3303 and b3309, and jointly supported by the secondary traction module support columns a3303 and b3309. A pair of parallel nylon running rope upper double pulleys 3306 are rotatably mounted in the upper double pulley seat.

[0110] Inside the straight cylinder of the secondary traction module 3004 of the lifting column, between the lower cover plate 3205 and the upper double pulley seat of the secondary traction module, there is also a ring-shaped guide slider 3304 for the tertiary working module. The ring-shaped lower cover plate 3305 of the tertiary working module is fixedly installed inside the guide slider 3304. The guide slider 3304 and the lower cover plate 3305 are together wrapped around the secondary traction module support columns a3303 and b3309. The secondary traction module support columns a3303 and b3309 provide guidance on the inner side of the guide slider 3304 and the lower cover plate 3305.

[0111] The output shaft of the ascending rope micro motor 3315 is wound with the ascending nylon rope 3308 of the secondary traction module. The ascending nylon rope 3308 of the secondary traction module extends upward to pass over the double pulleys 3306 on the two nylon ropes, and then extends downward to be fixedly connected to either the guide inner slider 3304 of the third-level working module or the lower cover plate 3305 of the third-level working module through the ascending rope traction spring 3312. The ascending nylon rope 3308 of the secondary traction module is connected to the ascending rope tension sensor 3313.

[0112] The output shaft of the descending rope micro motor 3314 is wound with a secondary traction module descending nylon rope 3301. The secondary traction module descending nylon rope 3301 extends downward to pass over the nylon rope sliding pulley 3208, and then extends upward to be fixedly connected to either the guide inner slider 3304 of the tertiary working module or the lower cover plate 3305 of the tertiary working module through the descending rope traction spring 3311. A descending rope tension sensor 3310 is connected in the secondary traction module descending nylon rope 3301.

[0113] Therefore, when the slider 3204 of the secondary traction module in the primary transmission module 3003 of the lifting column moves up and down, the entire secondary traction module 3004 of the lifting column can move up and down. When the ascending running rope micro motor 3315 and the descending running rope micro motor 3314 in the secondary traction module 3004 of the lifting column are working, they drive the slider 3304 of the tertiary working module to move up and down through the corresponding nylon running ropes. Furthermore, the real-time pressure of the anchor point working platform can be calculated by the values ​​fed back by the descending and ascending tension sensors 3310 and 3313 on the nylon running ropes, and the length of the nylon running ropes during operation can be micro-adjusted to control the horizontal stability of the anchor point platform.

[0114] The three-stage working support module 3006 for the lifting column includes a vertical column, a lifting anchor pulley seat 3402, and a lifting anchor pulley 3403. The lower end of the column extends from the upper end of the straight cylinder in the two-stage traction module 3004 into the straight cylinder. The lower end of the column extends downward to below the upper double pulley seat where the double pulleys 3306 on the nylon running rope are located, so that the double pulleys 3306 on the nylon running rope and the upper double pulley seat are housed as a whole in the column. Finally, the lower end of the column is fixedly connected to the lower cover plate 3305 of the three-stage working module, which is covered and fixed in the guide slider 3304 of the three-stage working module. The upper end of the column is located above the secondary traction module 3004 of the lifting column. The upper end of the column is covered and fixedly installed with a tertiary working platform cover plate 3405. A deep groove ball bearing 3401 is installed on the tertiary working platform cover plate 3405. A bearing cover plate 3404 is covered and fixedly installed on the deep groove ball bearing 3401.

[0115] Therefore, when the slider 3304 of the three-level working module moves up and down, the three-level working support module 3006 of the lifting column can move up and down as a whole.

[0116] Anchor point rotating pulley assembly 3005 is installed on the three-stage working support module 3006 of the lifting column. The anchor point rotating pulley assembly 3005 includes a lifting anchor point pulley seat 3402 and a lifting anchor point pulley 3403. A vertical rotating shaft is fixedly connected to the bottom of the lifting anchor point pulley seat 3402. The rotating shaft passes downwards through the bearing cover plate 3404 in the three-stage working support module 3006 and is rotatably installed in a deep groove ball bearing 3401. The lifting anchor point pulley 3403 is rotatably installed in the lifting anchor point pulley seat 3402 via a horizontally axial axle. The lifting anchor point pulley seat 3402 and the lifting anchor point pulley 3403 can rotate with the robot's working platform.

[0117] like Figure 11As shown, each rope drive module in this embodiment includes a bracket fixed on an omnidirectional moving platform 1. An axially horizontal rope drum 4004 is rotatably mounted in the bracket, along with a rotating shaft coaxial and parallel to the rope drum 4004. A double-rope drive cable is wound on the rope drum 4004. A small pulley b4003 is coaxially fixedly connected to one axial end of the rope drum 4004, and a small pulley a4001 is coaxially fixedly connected to the other axial end of the rotating shaft in the same direction. The small pulleys a4001 and b4003 are connected by a transmission belt. A drive motor 4006 is mounted in the bracket at the other axial end of the rope drum 4004. The output shaft of the drive motor 4006 is fixedly connected to the other axial end of the rope drum 4004 via a coupling 4005. A tensioning pulley 4002 is rotatably mounted on one side of the bracket corresponding to the positions of small pulleys b4003 and a4001, with the axis of tensioning pulley 4002 parallel to the axis of the rope drum 4004. A flexible cable guide pulley a4007 is rotatably mounted on the other side of the bracket, with its axis horizontal and perpendicular to the axis of the rope drum 4004. A pulley seat is fixed on the rotating shaft within the bracket, and a flexible cable guide pulley b4008 is rotatably mounted within the pulley seat, with the axis of flexible cable guide pulley b4008 always perpendicular to the axis of the rope drum 4004. The double-cable drive rope on the rope drum 4004 is output outwards after passing through flexible cable guide pulleys b4008 and a4007 in sequence.

[0118] The drive motor 4006 drives the rope drum 4004 to rotate, realizing the scaling of the double-rope drive rope. When the rope drum 4004 rotates, the rotating shaft drives the small pulley b4003 to rotate synchronously. Through the belt transmission, the small pulley a4001 is driven to rotate synchronously, which drives the lead screw connected to it to rotate. This causes the flexible rope steering pulley b4008 to move on the lead screw, so that the tangential surface of the flexible rope steering pulley b4008 is kept on the same plane as the rope exit point on the rope drum 4004, thereby realizing the steering purpose of the flexible rope without tilting.

[0119] This implementation example Figure 2 As shown, in the two sets of rope drive modules, the double-rod drive rope released by one set of rope drive modules serves as the upper double-rod drive rope 12, and the double-rod drive rope released by the other set of rope drive modules serves as the lower double-rod drive rope 15.

[0120] like Figure 12 , Figure 13 , Figure 14 As shown, the limiting and fixing flexible cable drive rope anchor point support column module 5 of this embodiment includes a three-link bevel gearbox 5006 fixed on the top of the omnidirectional moving platform 1, as well as a drive motor 5001 and a 180° limiting anchor point working platform assembly 5005.

[0121] The triple bevel gearbox 5006 contains a main drive shaft bevel gear 5104 and a limiting bevel gear 5102, both horizontally axially aligned, with 180° limiting anchor points. The axle of the main drive shaft bevel gear 5104 is rotatably mounted on one side wall of the triple bevel gearbox 5006 via a deep groove ball bearing 5101 connected to a bearing pressure plate 5004. The axle of the limiting bevel gear 5102 is also rotatably mounted on one side wall of the triple bevel gearbox 5006 via a deep groove ball bearing connected to a bearing pressure plate. The main drive shaft bevel gear 5104 and the limiting bevel gear 5102 are not coaxially connected, and the limiting bevel gear 5102 is fixed in position by the outer wall of the gearbox 5006.

[0122] The drive motor 5001 is mounted on the side wall of the triple bevel gearbox 5006 corresponding to the bevel gear 5104 of the main drive shaft at the 180° limit anchor point. The output shaft of the drive motor 5001 is fixedly connected to the axle of the bevel gear 5104 of the main drive shaft at the 180° limit anchor point through the coupling 5002 and the connecting shaft 5003.

[0123] The 180° limiting anchor point working platform assembly 5005 includes a vertical working platform drive shaft 5201. The lower end of the working platform drive shaft 5201 passes through a triple bevel gear box 5006, and a working platform drive shaft bevel gear 5103 is fixedly connected to the lower end of the working platform drive shaft 5201. The working platform drive shaft bevel gear 5103 is engaged with the 180° limiting anchor point main drive shaft bevel gear 5104 and the limiting bevel gear 5102 respectively. The upper end of the drive shaft 5201 of the work platform is located above the triple bevel gearbox 5006, and a 180° limiting anchor pulley seat 5202 is fixedly connected to the upper end of the triple bevel gearbox 5006. An axially horizontal 180° limiting anchor pulley 5203 is rotatably installed in the 180° limiting anchor pulley seat 5202, and the overall height of the 180° limiting anchor pulley seat 5202 and the 180° limiting anchor pulley 5203 is lower than the height of the anchor rotating pulley assembly 3005.

[0124] When the drive motor 5001 drives the bevel gear 5104 of the 180° limit anchor point main drive shaft to rotate in the horizontal plane, the bevel gear 5103 of the work platform drive shaft converts the horizontal rotation into the rotation of the work platform drive shaft 5201, allowing the 180° limit anchor point pulley 5203 to select the optimal direction. Specifically, the drive motor 5001 drives the bevel gear 5104 of the 180° limit anchor point main drive shaft to rotate laterally, transmitting torque to the bevel gear 5103 of the work platform drive shaft. The limit bevel gear 5102 provides support and coordination. Through the three-link bevel gear transmission, the work platform drive shaft 5201 is always driven, and the 180° limit anchor point pulley seat 5202 and the 180° limit anchor point pulley 5203 face the robot work platform as a whole.

[0125] like Figure 1 , Figure 2 As shown, this embodiment generally uses at least two sets in combination. In each set of the spatially reconfigurable mobile flexible cable anchor platform device of this embodiment, in one set of flexible cable drive modules, the upper double cable drive rope 12, which is wound up and installed, passes upward around the anchor point rotating pulley assembly 3005 and then extends downward to be fixedly connected to the robot work platform 13. In the other set of flexible cable drive modules, the lower double cable drive rope 15, which is wound up and installed, passes upward around the 180° limiting anchor point pulley 5203 and then continues to extend upward to be fixedly connected to the robot work platform 13.

[0126] like Figure 2 As shown, the reconfigurable mobile flexible cable anchor platform device 11 and the reconfigurable mobile flexible cable anchor platform device 14 are combined and connected to the upper anchor point of the traction robot working platform 13 via the upper double cable drive rope 12, controlling the movement of the robot working platform 13 in the xz / yz plane. The lower double cable drive rope 15 is connected to the lower anchor point of the traction robot working platform 13, controlling the rotational movement of the robot working platform 13. The reconfigurable mobile flexible cable anchor platform device 11 and the reconfigurable mobile flexible cable anchor platform device 14 move in coordination to control the movement of the robot working platform 13 in the xy plane.

[0127] In this embodiment, at least two sets of spatially reconfigurable mobile flexible cable anchor platform devices work together to fix and connect the robot work platform 13, such as... Figure 15 As shown, the working method of this embodiment is as follows:

[0128] Step 1: System initialization. Determine the position of omnidirectional moving platform 1 in each group of reconfigurable mobile flexible cable anchor point platform devices, determine the moving target position parameters, and input them into the host computer of the control system.

[0129] Step 2: Obtain the spatial environment of each set of reconfigurable mobile flexible cable anchor point platform devices under the current state using lidar and vision sensors, and establish the target path;

[0130] Step 3: The pressure sensor at the bottom of the adaptive hydraulic support column 2101 in each set of spatially reconfigurable mobile flexible cable anchor point platform devices determines the current pressure value, adjusts the hydraulic support height of the adaptive hydraulic support column 2101 in each set of spatially reconfigurable mobile flexible cable anchor point platform devices, and then returns the pressure sensor to zero.

[0131] Step 4: Drive the motor 2201 in each set of spatially reconfigurable mobile flexible cable anchor point platform devices to drive the rotating shaft 2105 of each connecting plate through a one-to-many gear transmission mechanism, thereby causing the connecting plate 2102 together with the adaptive hydraulic support column 2101 to retract to the side of the omnidirectional mobile platform 1.

[0132] Step 5: Make the omnidirectional mobile platform 1 in each set of spatially reconfigurable mobile flexible cable anchor point platform devices travel along the predetermined target path. The lidar obtains the obstacle limit height in the target path and determines whether the lifting flexible cable drive rope anchor point support column module 3 in each set of spatially reconfigurable mobile flexible cable anchor point platform devices can pass.

[0133] If it is not possible to pass, according to the obstacle limit height, in each set of spatially reconfigurable mobile flexible cable anchor point platform devices, the lifting drive module 3001 in the lifting flexible cable drive rope anchor point support column module 3 drives the first-level transmission module screw 3210 to rotate to adjust the height of the second-level traction module 3004 of the lifting column. The height of the third-level working support module 3006 of the lifting column is adjusted by the operation of the rising running rope micro motor 3315 and the descending running rope micro motor 3314 until the overall height of the lifting flexible cable drive rope anchor point support column module 3 is adjusted to be able to pass.

[0134] Step 6: Determine whether the omnidirectional moving platform 1 in the movable flexible cable anchor point platform device that enables each group of spaces to be reconfigured has reached the target position. If it has, end the moving part; otherwise, return to step 5 and continue moving.

[0135] Step 7: In each set of spatially reconfigurable mobile flexible cable anchor point platform devices, the lifting drive module 3001 in the lifting flexible cable drive rope anchor point support column module 3 is activated, the rising running rope micro motor 3315 and the descending running rope micro motor 3314 are activated, and the height of the lifting flexible cable drive rope anchor point support column module 3 is adjusted to the working state.

[0136] Step 8: Calculate the anchor platform pressure by measuring the data from the tension sensor in the secondary traction module 3004 of the lifting column in the movable flexible cable anchor platform device that allows each set of spaces to be reconfigured, and determine whether the anchor height is accurate. If it is not accurate, adjust the length of the nylon running rope by using the rising running rope micro motor 3315 and the descending running rope micro motor 3314 in the secondary traction module 3004 of the lifting column.

[0137] Step 9: Perform the following three working modes as needed:

[0138] i: Fixed workspace mode:

[0139] The omnidirectional moving platform 1 in each set of spatially reconfigurable mobile flexible cable anchor point platform devices is fixed, and the rotating shaft 2105 of each connecting plate is driven to rotate by the drive motor 2201, so that the connecting plate 2102 together with the adaptive hydraulic support column 2101 unfolds from the side of the omnidirectional moving platform 1, and the adaptive hydraulic support column 2101 is lowered. The device is judged to be level by the level instrument. If not, the pressure sensor at the bottom of the four adaptive hydraulic support columns 2101 is adjusted to return the value, so that each set of spatially reconfigurable mobile flexible cable anchor point platform devices keeps working horizontally, and the flexible cable drive module 4 is made to work to control the corresponding dual cable drive rope to work, thereby controlling the pose of the robot work platform 13 connected to the end.

[0140] ii: Mobile workspace mode:

[0141] The drive motor 2201 in each set of spatially reconfigurable mobile flexible cable anchor point platform devices is activated, causing the connecting plate 2102 and the adaptive hydraulic support column 2101 to retract to the side of the omnidirectional mobile platform 1, and causing the adaptive hydraulic support column 2101 to rise. The pressure sensor on the adaptive hydraulic support column 2101 is reset to zero, and then the omnidirectional mobile platform 1 is moved. The flexible cable drive module 4 is locked. The position of the robot work platform 13 connected to the ends of the upper and lower double cable drive ropes 12 and 15 is controlled by the movement of the body of the omnidirectional mobile platform 1.

[0142] iii: Mobile workspace mode:

[0143] The drive motor 2201 in each set of reconfigurable mobile flexible cable anchor point platform devices is activated, causing the connecting plate 2102 and the adaptive hydraulic support column 2101 to retract to the side of the omnidirectional moving platform 1, and causing the adaptive hydraulic support column 2101 to rise. The pressure sensor built into the adaptive hydraulic support column 2101 returns to zero, and then the omnidirectional moving platform 1 is moved. The length of the double cable drive rope is controlled by the flexible cable drive module 4. The position of the double cable drive rope is controlled by the distance between the omnidirectional moving platforms 1 to compensate for the tension of the rope, so as to achieve a more reasonable tension distribution. The position difference between the zero moment point position and the center of gravity of the omnidirectional moving platform 1 is controlled, so that the omnidirectional moving platform 1 can achieve a larger working space in a non-slip and tilting state.

[0144] Step 10: The flexible cable drive module 4 in each set of spatially reconfigurable mobile flexible cable anchor point platform devices drives the corresponding double cable drive rope to change length, controlling the movement of the robot work platform 13 connected to the end of the double cable drive rope to complete the current workspace task; during operation, data is collected and output to the host computer through tension sensor, external angle sensor and vision sensor, thereby controlling the adaptive hydraulic support column 2101 and flexible cable drive module 4 to adjust, preventing the mechanism from tipping over, and ensuring that there is no interference in the workspace;

[0145] Step 11: Determine if the current task is completed. If it is, end the task; otherwise, return to step 8 and start again until the task in the space is completed.

[0146] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. These embodiments are merely descriptions of preferred embodiments and are not intended to limit the scope or concept of the invention. The specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. Such combinations, as long as they do not violate the spirit of the present invention, should also be considered as part of this disclosure. To avoid unnecessary repetition, the present invention will not further describe the various possible combinations.

[0147] This invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this invention and without departing from the design idea of ​​this invention, all modifications and improvements made by those skilled in the art to the technical solutions of this invention should fall within the protection scope of this invention. The technical content for which protection is sought in this invention has been fully described in the claims.

Claims

1. A spatially reconfigurable mobile flexible cable anchor platform device, characterized in that, It includes an omnidirectional mobile platform (1), on which a lifting flexible cable drive rope anchor support column module (3), a 180° limiting and fixing flexible cable drive rope anchor support column module (5), and two sets of flexible cable drive modules (4) are installed. The lifting flexible cable drive rope anchor point support column module (3) includes a lifting drive module (3001), a lifting column primary transmission module (3003), a lifting column secondary traction module (3004), a lifting column tertiary working support module (3006), and an anchor point rotating pulley assembly (3005); wherein: The lifting drive module (3001) is installed on the omnidirectional moving platform (1). The lower end of the lifting column primary transmission module (3003) is fixed on the omnidirectional moving platform (1). The lifting column primary transmission module (3003) is equipped with a screw and slider mechanism. The screw and slider mechanism includes a primary transmission module screw (3210) and a secondary traction module guide slider (3204). The lifting drive module (3001) drives the primary transmission module screw (3210) in the screw and slider mechanism to rotate, so that the secondary traction module guide slider (3204) in the screw and slider mechanism moves up and down inside the lifting column primary transmission module (3003). The lower end of the secondary traction module (3004) of the lifting column passes through the primary transmission module (3003) of the lifting column and is fixed on the guide slider (3204) of the secondary traction module. The upper end of the secondary traction module (3004) of the lifting column extends out from the upper end of the primary transmission module (3003). The lifting movement of the secondary traction module (3004) of the lifting column is equipped with the guide slider (3304) of the tertiary working module. The secondary traction module (3004) of the lifting column is also equipped with an upward running rope micro motor (3315) and a downward running rope micro motor (3314). The output shaft of the upward running rope micro motor (3315) is wound with the upward nylon running rope (3308) of the secondary traction module. The upward nylon running rope (3308) of the secondary traction module passes upward around the nylon running rope fixed inside the secondary traction module (3004) of the lifting column and located above the guide slider (3304) of the tertiary working module. After the double pulleys (3306), the rope extends downward to connect to the guide slider (3304) of the third-level working module; the output shaft of the descending rope micro motor (3314) is wound with the descending nylon rope (3301) of the second-level traction module. The descending nylon rope (3301) of the second-level traction module passes down around the nylon rope pulley (3208) fixed inside the second-level traction module (3004) of the lifting column and located below the guide slider (3304) of the third-level working module, and then extends upward to connect to the guide slider (3304) of the third-level working module; the ascending rope micro motor (3315) and the descending rope micro motor (3314) pull the guide slider (3304) of the third-level working module from above and below respectively through their respective nylon ropes, thereby realizing the lifting and lowering movement of the guide slider (3304) of the third-level working module inside the second-level traction module (3004) of the lifting column; The lower end of the three-stage working support module (3006) of the lifting column is inserted into the lower two-stage traction module (3004) of the lifting column and fixed on the guide slider (3304) of the three-stage working module. The upper end of the three-stage working support module (3006) of the lifting column extends out from the upper end of the two-stage traction module (3004) of the lifting column. The anchor point rotating pulley assembly (3005) is rotatably mounted on the upper end of the three-stage working support module (3006) of the lifting column via an axially vertical rotating shaft; The 180° limiting and fixing flexible cable drive rope anchor point support column module (5) includes a drive motor (5001) and a 180° limiting anchor point pulley seat (5202). An axially horizontal 180° limiting anchor point pulley (5203) is rotatably installed in the 180° limiting anchor point pulley seat (5202). The 180° limiting anchor point pulley seat (5202) is rotatably installed on the omnidirectional moving platform (1) through an axially vertical working platform transmission shaft (5201). The drive motor (5001) is installed on the omnidirectional moving platform and drives the working platform transmission shaft (5201) to rotate. The height of the 180° limiting anchor point pulley seat (5202) is lower than the height of the anchor point rotating pulley assembly (3005). In the two sets of flexible rope drive modules (4), one set of flexible rope drive modules has an upper double rope drive rope (12) wound up and installed, and the other set of flexible rope drive modules has a lower double rope drive rope (15) wound up and installed. The upper double rope drive rope (12) goes up around the anchor point rotating pulley assembly (3005) and then extends down to be fixedly connected to the robot work platform (13). The lower double rope drive rope (15) goes up around the 180° limiting anchor point pulley (5203) and then continues to extend up to be fixedly connected to the robot work platform (13).

2. The spatially reconfigurable mobile flexible cable anchor platform device according to claim 1, characterized in that, The omnidirectional moving platform (1) is a Mecanum wheel omnidirectional moving platform.

3. The spatially reconfigurable mobile flexible cable anchor platform device according to claim 1, characterized in that, The omnidirectional mobile platform (1) is equipped with multiple sets of connecting plates (2102). Each set of connecting plates (2102) has an adaptive hydraulic support column (2101) vertically fixed at one end, and the other end of each set of connecting plates (2102) is rotatably connected to the side of the omnidirectional mobile platform (1) through an axially vertical connecting plate rotation shaft (2105).

4. The spatially reconfigurable mobile flexible cable anchor platform device according to claim 3, characterized in that, The omnidirectional mobile platform (1) is also equipped with a multi-gear transmission mechanism driven by a drive motor (2201). Each of the last gears in the multi-gear transmission mechanism is fixed on the rotating shaft (2105) of the connecting plate in a one-to-one correspondence. The drive motor (2201) drives each rotating shaft (2105) of the connecting plate to rotate synchronously through the multi-gear transmission mechanism.

5. The spatially reconfigurable mobile flexible cable anchor platform device according to claim 1, characterized in that, In the secondary traction module (3004) of the lifting column, the rising nylon running rope (3308) and the descending nylon running rope (3301) of the secondary traction module are respectively connected to the guide slider (3304) of the tertiary working module through traction springs.

6. The spatially reconfigurable mobile flexible cable anchor platform device according to claim 1, characterized in that, Each of the secondary traction module's ascending nylon running rope (3308) and descending nylon running rope (3301) is equipped with a tension sensor.

7. The spatially reconfigurable mobile flexible cable anchoring platform device according to claim 1, characterized in that, The 180° limiting and fixing flexible cable drive rope anchor point support column module (5) also includes a 180° limiting anchor point main drive shaft bevel gear (5104), a limiting bevel gear (5102), and a working platform drive shaft bevel gear (5103). The 180° limiting anchor point main drive shaft bevel gear (5104) and the limiting bevel gear (5102) are respectively rotatably mounted on the gearbox (5006) through a horizontally axial gear shaft. The output shaft of the drive motor (5001) is coaxially connected to the 180° limiting anchor point main drive shaft bevel gear (5104). The working platform drive shaft bevel gear (5103) is fixed on the working platform drive shaft (5201), and the working platform drive shaft bevel gear (5103) simultaneously engages with the 180° limiting anchor point main drive shaft bevel gear (5104) and the limiting bevel gear (5102).

8. A method of operating the spatially reconfigurable mobile flexible cable anchor platform device as described in any one of claims 1-7, characterized in that, At least two sets of spatially reconfigurable mobile flexible cable anchor platform devices work together to drive the robot work platform (13), as follows: Step 1: System initialization, determine the position of the omnidirectional moving platform (1) in each group of reconfigurable mobile flexible cable anchor point platform devices, determine the moving target position parameters, and input them into the host computer of the control system; Step 2: Obtain the spatial environment of each set of spatially reconfigurable mobile flexible cable anchor point platform devices under the current state using lidar and vision sensors, and establish the target path; Step 3: The pressure sensor at the bottom of the adaptive hydraulic support column (2101) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices determines the current pressure value, adjusts the hydraulic support height of the adaptive hydraulic support column (2101) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices, and then returns the pressure sensor to zero. Step 4: Drive the motor (2201) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices to drive the rotating shaft (2105) of each connecting plate through a one-to-many gear transmission mechanism, thereby causing the connecting plate (2102) together with the adaptive hydraulic support column (2101) to retract to the side of the omnidirectional mobile platform (1). Step 5: Make the omnidirectional mobile platform (1) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices travel according to the predetermined target path. The lidar obtains the obstacle limit height in the target path and determines whether the lifting flexible cable drive rope anchor point support column module (3) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices can pass through. If it cannot pass, according to the obstacle limit height, in each set of spatially reconfigurable mobile flexible cable anchor point platform devices, the lifting drive module (3001) in the lifting flexible cable drive rope anchor point support column module (3) drives the first-level transmission module screw (3210) to rotate to adjust the height of the second-level traction module (3004) of the lifting column. The height of the third-level working support module (3006) of the lifting column is adjusted by the operation of the rising running rope micro motor (3315) and the descending running rope micro motor (3314) until the overall height of the lifting flexible cable drive rope anchor point support column module (3) is adjusted to be able to pass. Step 6: Determine whether the omnidirectional moving platform (1) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices has reached the target position. If it has, end the moving part; otherwise, return to step 5 and continue moving. Step 7: In each set of spatially reconfigurable mobile flexible cable anchor point platform devices, the lifting drive module (3001) in the lifting flexible cable drive rope anchor point support column module (3) is activated, the rising running rope micro motor (3315) and the descending running rope micro motor (3314) are activated, and the height of the lifting flexible cable drive rope anchor point support column module (3) is adjusted to the working state. Step 8: Calculate the anchor platform pressure by measuring the data from the tension sensor in the secondary traction module (3004) of the lifting column in each set of reconfigurable mobile flexible cable anchor platform devices, and determine whether the anchor height is accurate. If it is not accurate, adjust the length of the nylon running rope by using the rising running rope micro motor (3315) and the descending running rope micro motor (3314) in the secondary traction module (3004). Step 9: Perform the following three working modes as needed: i: Fixed workspace mode: Fix the omnidirectional moving platform (1) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices, and drive the rotating shaft (2105) of each connecting plate to rotate through the drive motor (2201), so that the connecting plate (2102) together with the adaptive hydraulic support column (2101) unfolds from the side of the omnidirectional moving platform (1), and the adaptive hydraulic support column (2101) is lowered. The level is used to determine whether the device is level. Otherwise, the pressure sensor at the bottom of the four adaptive hydraulic support columns (2101) is adjusted to transmit the value, so that each set of spatially reconfigurable mobile flexible cable anchor point platform devices keeps working horizontally, and the flexible cable drive module (4) controls the corresponding double cable drive rope to work, so as to control the pose of the robot work platform (13) connected to the end. ii: Mobile workspace mode: The drive motor (2201) in each set of spatially reconfigurable mobile flexible cable anchor point platform devices is activated, causing the connecting plate (2102) together with the adaptive hydraulic support column (2101) to retract to the side of the omnidirectional mobile platform (1), and causing the adaptive hydraulic support column (2101) to rise. The pressure sensor on the adaptive hydraulic support column (2101) is reset to zero, and then the omnidirectional mobile platform (1) is moved. The flexible cable drive module (4) is locked. The position of the robot work platform (13) connected to the ends of the upper and lower double cable drive ropes (12) and (15) is controlled by the movement of the body of the omnidirectional mobile platform (1). iii: Mobile workspace mode: The drive motor (2201) in each set of reconfigurable mobile flexible cable anchor platform devices is activated, causing the connecting plate (2102) and the adaptive hydraulic support column (2101) to retract to the side of the omnidirectional moving platform (1), and the adaptive hydraulic support column (2101) is raised. The pressure sensor of the adaptive hydraulic support column (2101) is zeroed, and then the omnidirectional moving platform (1) is moved. The length of the double cable drive rope is controlled by the flexible cable drive module (4). The position of the double cable drive rope is controlled by the distance between the omnidirectional moving platforms (1) to compensate for the tension of the rope, so as to achieve a more reasonable tension distribution. The position difference between the zero moment point position and the center of gravity of the omnidirectional moving platform (1) is controlled, so that the omnidirectional moving platform (1) can achieve a larger working space in the non-slip and tilting state. Step 10: The flexible rope drive module (4) in each set of spatially reconfigurable mobile flexible rope anchor point platform devices drives the corresponding double-rope drive rope to change its length, and controls the movement of the robot work platform (13) connected to the end of the double-rope drive rope to complete the current workspace task; during operation, data is collected and output to the host computer through the tension sensor, external rotation sensor and vision sensor, thereby controlling the adaptive hydraulic support column (2101) and the flexible rope drive module (4) to adjust, prevent the mechanism from tipping over, and ensure that there is no interference in the workspace; Step 11: Determine if the current task is completed. If it is, end the task; otherwise, return to step 8 and start again until the task in the space is completed.

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