A rope-hauled variable-stiffness tensioning mechanism

Abstract

The application relates to the field of robots, in particular to a rope-pulling variable-rigidity tensioning mechanism which comprises a mounting frame, a first tensioning component is fixedly connected to the mounting frame, a rope-driven steering engine is fixedly connected to the mounting frame, a rope-driven extension piece is fixedly connected to an output shaft of the rope-driven steering engine, rope-driven mechanism ropes are fixedly connected to two ends of the rope-driven extension piece, a plurality of second tensioning components are arranged side by side at the rear end of the first tensioning component, a third tensioning component is arranged at the rear side of the last second tensioning component, a fourth tensioning component is arranged at the rear side of the third tensioning component, and two rope-driven mechanism ropes are fixedly connected to the left and right sides of the third tensioning component in sequence through the first tensioning component and the plurality of second tensioning components; the mechanism is compact in structure, simple in control, greatly reduces mechanical friction, and guarantees high compliance of the mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, and more particularly to a rope-pulling variable stiffness tension mechanism. BACKGROUND

[0002] In the field of mechanical arms and bionics, the traditional joint is generally a rigid hinge form of surface contact rotating pair. There is relative rotation between the rods and direct mechanical contact, which will inevitably lead to mechanical friction loss. Once the degree of freedom of the mechanism increases, the increase in the number of joints will inevitably lead to a significant decrease in mechanical efficiency. In addition, the higher the driving frequency, the more serious this phenomenon will be. For bionic swing propulsion mechanisms or mechanical arms, in order to adapt to different scenes, not only is it required that the rotating joint can realize the basic rotating function, but it is also required that it has a certain flexibility; it can realize online adjustment of stiffness and the variable stiffness range is as large as possible; the mechanical efficiency is as high as possible; it should be easy to expand to multiple degrees of freedom; in terms of control, it should be as simple and convenient as possible; therefore, a structure compact, control relatively simple, high compliance mechanism with small mechanical friction is needed. SUMMARY

[0003] The purpose of the present application is to provide a rope-pulling variable stiffness tension mechanism, which has a compact structure, simple control, greatly reduces mechanical friction, and ensures high compliance of the mechanism.

[0004] The purpose of the present application is achieved by the following technical solutions:

[0005] A rope traction variable stiffness tensioning mechanism, comprising a mounting frame, a first tensioning member is fixedly connected on the mounting frame, a rope drive steering gear is fixedly connected on the mounting frame, a rope drive extension piece is fixedly connected on the output shaft of the rope drive steering gear, rope drive mechanism ropes are fixedly connected on both ends of the rope drive extension piece, a plurality of second tensioning members are arranged side by side at the rear end of the first tensioning member, a third tensioning member is arranged at the rear side of the last second tensioning member, a fourth tensioning member is arranged at the rear side of the third tensioning member, first connecting ropes are arranged between the upper and lower ends of the first tensioning member and the second tensioning member, second connecting ropes are arranged between the upper and lower ends of the second tensioning member and the adjacent second tensioning member, third connecting ropes are arranged between the upper and lower ends of the second tensioning member and the third tensioning member, fourth tensioning ropes are arranged between the upper and lower ends of the third tensioning member and the fourth tensioning member, first support arms are fixedly connected on the upper and lower sides of the second tensioning member, first tensioning ropes are arranged between the first support arms and the first tensioning member, second tensioning ropes are arranged between the first support arms and the adjacent second tensioning member in front, two second support arms are fixedly connected on the third tensioning member, third tensioning ropes are arranged between the second support arms and the adjacent second tensioning member in front, a second connecting frame is fixedly connected on the fourth tensioning member, fourth tensioning ropes are arranged between the second connecting frame and the upper and lower sides of the adjacent third tensioning member in front, and the two rope drive mechanism ropes are fixedly connected on the left and right sides of the third tensioning member in sequence through the first tensioning member and the plurality of second tensioning members;

[0006] A rope drive mechanism pretension steering gear is fixedly connected on the mounting frame, a steering gear arm is fixedly connected on the output shaft of the rope drive mechanism pretension steering gear, a first spring connecting rope is fixedly connected on the steering gear arm, a spring is fixedly connected on the first spring connecting rope, a second spring connecting rope is fixedly connected on the spring, a first connecting frame is fixedly connected on the third tensioning member, and the second spring connecting rope is fixedly connected on the second connecting frame through the first tensioning member, the plurality of second tensioning members and the first connecting frame;

[0007] One end of the rope drive mechanism rope is fixedly connected on the rope drive extension piece through a rope buckle, and the other end of the rope drive mechanism rope is fixedly connected on the third tensioning member through a rope buckle;

[0008] The two ends of the first connecting rope are fixedly connected on the first tensioning member and the second tensioning member through rope buckles respectively;

[0009] The two ends of the second connecting rope are fixedly connected on the two second tensioning members through rope buckles respectively;

[0010] The two ends of the third connecting rope are fixedly connected on the second tensioning member and the third tensioning member through rope buckles respectively;

[0011] Two ends of the fourth connecting rope are fixedly connected to the third tensioning member and the fourth tensioning member through rope buckles respectively;

[0012] One end of the first spring connecting rope is fixedly connected to the rudder arm through a rope buckle, the other end of the first spring connecting rope is fixedly connected to the spring, one end of the second spring connecting rope is fixedly connected to the spring, and the other end of the second spring connecting rope is fixedly connected to the second connecting frame through a rope buckle;

[0013] The front end and the middle part of the first supporting arm and the second supporting arm are provided with holes, and the front end and the middle part of the upper sides of the second connecting frame are provided with holes;

[0014] Two ends of the first tensioning rope are fixedly connected to the first tensioning member through rope buckles, and the middle part of the first tensioning rope passes through the hole in the front end of the first supporting arm, passes through the hole in the middle part of the first supporting arm, and is fixedly connected to the middle part of the first supporting arm through a rope buckle;

[0015] Two ends of the second tensioning rope are fixedly connected to the second tensioning member through rope buckles, and the middle part of the second tensioning rope passes through the hole in the front end of the first supporting arm, passes through the hole in the middle part of the first supporting arm, and is fixedly connected to the middle part of the first supporting arm through a rope buckle;

[0016] Two ends of the third tensioning rope are fixedly connected to the second tensioning member through rope buckles, and the middle part of the third tensioning rope passes through the hole in the front end of the second supporting arm, passes through the hole in the middle part of the second supporting arm, and is fixedly connected to the middle part of the second supporting arm through a rope buckle;

[0017] Two ends of the fourth tensioning rope are fixedly connected to the third tensioning member through rope buckles, and the middle part of the fourth tensioning rope passes through the hole in the front end of the second connecting frame, passes through the hole in the middle part of the second connecting frame, and is fixedly connected to the middle part of the second connecting frame through a rope buckle.

[0018] The beneficial effects of the present application are:

[0019] Since the first tensioning member, the plurality of second tensioning members, the third tensioning member and the fourth tensioning member are connected through the first connecting rope, the second connecting rope, the third connecting rope, the fourth connecting rope, the first tensioning rope, the second tensioning rope, the third tensioning rope and the fourth tensioning rope, the first tensioning member, the plurality of second tensioning members, the third tensioning member and the fourth tensioning member are not in direct contact, which greatly reduces mechanical friction and ensures high flexibility of the mechanism;

[0020] Through driving the rope-driven rudder to move, the rope-driven rudder drives the rope-driven extension member to move, the rope-driven extension member drives the two rope-driven mechanism ropes to move, the rope-driven mechanism ropes pull and move the plurality of second tensioning members and third tensioning members, so that the tensioning mechanism bends and swings;

[0021] Through driving the rope-driven mechanism pre-tensioning rudder to move, the rope-driven mechanism pre-tensioning rudder drives the first spring connecting rope to move, the first spring connecting rope drives the spring to move, the pre-tightening force of the spring is adjusted, and then the rigidity of the tensioning mechanism during movement is adjusted. BRIEF DESCRIPTION OF DRAWINGS

[0022] The application will be further described in detail below in combination with the drawings and specific implementation methods.

[0023] Figure 1 is a structure schematic diagram of the rope traction variable stiffness tensioning mechanism of the application;

[0024] Figure 2 is a side view of the rope traction variable stiffness tensioning mechanism of the application;

[0025] Figure 3 is a top view of the rope traction variable stiffness tensioning mechanism of the application;

[0026] Figure 4 is a structure schematic diagram of the third tensioning member of the application;

[0027] Figure 5 is a structure schematic diagram of the fourth tensioning member of the application.

[0028] In the drawings: mounting frame 1; first tensioning member 2; rope-driven rudder 3; rope-driven extension member 4; rope-driven mechanism pre-tensioning rudder 5; rudder arm 6; rope-driven mechanism rope 7; second tensioning member 8; first support arm 9; third tensioning member 10; fourth tensioning member 11; first spring connecting rope 12; spring 13; second spring connecting rope 14; first connecting rope 15; second connecting rope 16; third connecting rope 17; fourth connecting rope 18; first tensioning rope 19; second tensioning rope 20; third tensioning rope 21; fourth tensioning rope 22; second support arm 23; first connecting frame 24; second connecting frame 25. DETAILED DESCRIPTION

[0029] The application will be further described in detail below in combination with the drawings.

[0030] As Figures 1 to 5 shown, in order to achieve the technical effect of "the mechanism structure is compact, the control is relatively simple, the mechanical friction is greatly reduced, and the high compliance of the mechanism is ensured", the structure and function of a rope traction variable stiffness tensioning mechanism are described in detail below;

[0031] A rope traction variable stiffness tensioning mechanism, comprising a mounting frame 1, a first tensioning member 2 is fixedly connected on the mounting frame 1, a rope drive steering engine 3 is fixedly connected on the mounting frame 1, a rope drive extension piece 4 is fixedly connected on the output shaft of the rope drive steering engine 3, rope drive mechanism ropes 7 are fixedly connected on both ends of the rope drive extension piece 4, a plurality of second tensioning members 8 are arranged side by side at the rear end of the first tensioning member 2, a third tensioning member 10 is arranged at the rear side of the last second tensioning member 8, a fourth tensioning member 11 is arranged at the rear side of the third tensioning member 10, first connecting ropes 15 are arranged between the upper and lower ends of the first tensioning member 2 and the second tensioning member 8, second connecting ropes 16 are arranged between the upper and lower ends of the second tensioning member 8 and the adjacent second tensioning member 8, third connecting ropes 17 are arranged between the upper and lower ends of the second tensioning member 8 and the third tensioning member 10, fourth tensioning ropes 22 are arranged between the upper and lower ends of the third tensioning member 10 and the fourth tensioning member 11, first support arms 9 are fixedly connected on both sides of the second tensioning member 8, first tensioning ropes 19 are arranged between the first support arms 9 and the first tensioning member 2, second tensioning ropes 20 are arranged between the first support arms 9 and the adjacent second tensioning member 8 in front, two second support arms 23 are fixedly connected on the third tensioning member 10, third tensioning ropes 21 are arranged between the second support arms 23 and the adjacent second tensioning member 8 in front, a second connecting frame 25 is fixedly connected on the fourth tensioning member 11, fourth tensioning ropes 22 are arranged between the second connecting frame 25 and the adjacent third tensioning member 10 in front, the two rope drive mechanism ropes 7 are fixedly connected on the left and right sides of the third tensioning member 10 through the first tensioning member 2 and the plurality of second tensioning members 8 in sequence;

[0032] In use, the rope drive steering engine 3 is started, the output shaft of the rope drive steering engine 3 starts to rotate, the output shaft of the rope drive steering engine 3 drives the rope drive extension piece 4 to rotate, the rope drive extension piece 4 drives the two rope drive mechanism ropes 7 to move, the rope drive mechanism ropes 7 pull the plurality of second tensioning members 8 and the third tensioning member 10 to move, so as to drive the plurality of second tensioning members 8 and the third tensioning member 10 to bend or swing;

[0033] The mounting frame 1 is fixedly connected with a mechanism pre-tensioning steering engine 5, a steering engine arm 6 is fixedly connected on the output shaft of the mechanism pre-tensioning steering engine 5, a first spring connecting rope 12 is fixedly connected on the steering engine arm 6, a spring 13 is fixedly connected on the first spring connecting rope 12, a second spring connecting rope 14 is fixedly connected on the spring 13, a first connecting frame 24 is fixedly connected on the third tensioning member 10, the second spring connecting rope 14 is fixedly connected on the second connecting frame 25 through the first tensioning member 2, the plurality of second tensioning members 8 and the first connecting frame 24;

[0034] The rope-driven mechanism pre-tensioning rudder 5 is started, the output shaft of the rope-driven mechanism pre-tensioning rudder 5 starts to rotate, the output shaft of the rope-driven mechanism pre-tensioning rudder 5 drives the rudder arm 6 to move, the rudder arm 6 pulls the first spring connecting rope 12 to move, the first spring connecting rope 12 drives the spring 13 to move, thereby adjusting the pre-tightening force of the spring 13, and adjusting the stiffness of the tensioning mechanism during movement;

[0035] The rope-driven variable stiffness is essentially a series tensioning flexible mechanism with variable end joint stiffness, which can be applied in variable stiffness mechanical arms, bionic robotic fish and other fields

[0036] For the bionic robotic fish, the first tensioning member 2, the plurality of second tensioning members 8 and the third tensioning member 10 can construct a multi-joint fish body structure, and the fourth tensioning member 11 and the online variable stiffness module can simulate a fish tail with adjustable rotational stiffness; wherein the rope-driven mechanism pre-tensioning rudder 5 and the spring 13 of the variable stiffness module can be conveniently placed in the inner cavity of the head of the robotic fish;

[0037] As shown in Figures 1 to 5 One end of the rope-driven mechanism rope 7 is fixedly connected to the rope-driven extension member 4 through a rope buckle, and the other end of the rope-driven mechanism rope 7 is fixedly connected to the third tensioning member 10 through a rope buckle;

[0038] Both ends of the first connecting rope 15 are fixedly connected to the first tensioning member 2 and the second tensioning member 8 through rope buckles, respectively;

[0039] Both ends of the second connecting rope 16 are fixedly connected to two second tensioning members 8 through rope buckles, respectively;

[0040] Both ends of the third connecting rope 17 are fixedly connected to the second tensioning member 8 and the third tensioning member 10 through rope buckles, respectively;

[0041] Both ends of the fourth connecting rope 18 are fixedly connected to the third tensioning member 10 and the fourth tensioning member 11 through rope buckles, respectively;

[0042] One end of the first spring connecting rope 12 is fixedly connected to the rudder arm 6 through a rope buckle, the other end of the first spring connecting rope 12 is fixedly connected to the spring 13, one end of the second spring connecting rope 14 is fixedly connected to the spring 13, and the other end of the second spring connecting rope 14 is fixedly connected to the second connecting frame 25 through a rope buckle;

[0043] The front end and the middle part of the first support arm 9 and the second support arm 23 are both provided with holes, and the front end and the middle part of the two sides of the upper side of the second connecting frame 25 are both provided with holes;

[0044] The two ends of the first tensioning rope 19 are fixedly connected to the first tensioning member 2 through rope buckles, and the middle part of the first tensioning rope 19 passes through the hole at the front end of the first supporting arm 9, passes through the hole at the middle part of the first supporting arm 9, and is fixedly connected to the middle part of the first supporting arm 9 through a rope buckle.

[0045] The two ends of the second tensioning rope 20 are fixedly connected to the second tensioning member 8 through rope buckles, and the middle part of the second tensioning rope 20 passes through the hole at the front end of the first supporting arm 9, passes through the hole at the middle part of the first supporting arm 9, and is fixedly connected to the middle part of the first supporting arm 9 through a rope buckle.

[0046] The two ends of the third tensioning rope 21 are fixedly connected to the second tensioning member 8 through rope buckles, and the middle part of the third tensioning rope 21 passes through the hole at the front end of the second supporting arm 23, passes through the hole at the middle part of the second supporting arm 23, and is fixedly connected to the middle part of the second supporting arm 23 through a rope buckle.

[0047] The two ends of the fourth tensioning rope 22 are fixedly connected to the third tensioning member 10 through rope buckles, and the middle part of the fourth tensioning rope 22 passes through the hole at the front end of the second connecting frame 25, passes through the hole at the middle part of the second connecting frame 25, and is fixedly connected to the middle part of the second connecting frame 25 through a rope buckle.

[0048] The first connecting rope 15, the second connecting rope 16, the third connecting rope 17, the fourth connecting rope 18, the first tensioning rope 19, the second tensioning rope 20, the third tensioning rope 21, and the fourth tensioning rope 22 complete the connection between the first tensioning member 2, the plurality of second tensioning members 8, the third tensioning member 10, and the fourth tensioning member 11, and the first connecting rope 15, the second connecting rope 16, the third connecting rope 17, the fourth connecting rope 18, the first tensioning rope 19, the second tensioning rope 20, the third tensioning rope 21, and the fourth tensioning rope 22 are in a tensioned state and generate antagonistic forces in opposition, so that the first tensioning member 2, the plurality of second tensioning members 8, the third tensioning member 10, and the fourth tensioning member 11 are in static equilibrium, and further, the first tensioning member 2, the plurality of second tensioning members 8, the third tensioning member 10, and the fourth tensioning member 11 are not in direct contact, which greatly reduces mechanical friction and ensures high compliance of the mechanism.

[0049] The principles and implementation modes of the present application are described by using specific examples in the present text, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, the specific implementation modes and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present specification should not be understood as a limitation of the present application.

Claims

1. A rope-traction variable stiffness tensioning mechanism, comprising a mounting frame (1), characterized in that: A first tensioning member (2) is fixedly connected to the mounting frame (1). A rope-driven servo motor (3) is fixedly connected to the mounting frame (1). A rope-driven extension member (4) is fixedly connected to the output shaft of the rope-driven servo motor (3). Both ends of the rope-driven extension member (4) are fixedly connected to rope-driven mechanism ropes (7). Multiple second tensioning members (8) are arranged side by side at the rear end of the first tensioning member (2). A third tensioning member (10) is arranged behind the last second tensioning member (8). A fourth tensioning member (11) is arranged behind the third tensioning member (10). A first connecting rope (15) is arranged between the upper and lower ends of the first tensioning member (2) and the second tensioning member (8). A second connecting rope (16) is arranged between the upper and lower ends of the second tensioning member (8) and the adjacent second tensioning member (8). A third connecting rope (17) is arranged between the upper and lower ends of the second tensioning member (8) and the third tensioning member (10). A third connecting rope (17) is arranged between the upper and lower ends of the third tensioning member (10) and the fourth tensioning member (11). A fourth connecting rope (18) is provided between the upper and lower ends of the first tensioning member (2). A first support arm (9) is fixedly connected to the upper and lower sides of the second tensioning member (8). A first tensioning rope (19) is provided between the two first support arms (9) and the first tensioning member (2). A second tensioning rope (20) is provided between the two first support arms (9) and the second tensioning member (8) located on the front side. Two second support arms (23) are fixedly connected to the third tensioning member (10). A third tensioning rope (21) is provided between the two second support arms (23) and the second tensioning member (8) located on the front side. A second connecting frame (25) is fixedly connected to the fourth tensioning member (11). A fourth tensioning rope (22) is provided between the second connecting frame (25) and the upper and lower sides of the third tensioning member (10) located on the front side. Two rope drive mechanism ropes (7) pass through the first tensioning member (2) and multiple second tensioning members (8) in sequence and are fixedly connected to the left and right sides of the third tensioning member (10).

2. The variable stiffness tensioning mechanism for rope traction according to claim 1, characterized in that: The mounting frame (1) is fixedly connected to a rope drive mechanism pretensioning servo motor (5). The output shaft of the rope drive mechanism pretensioning servo motor (5) is fixedly connected to a servo motor arm (6). The servo motor arm (6) is fixedly connected to a first spring connecting rope (12). The first spring connecting rope (12) is fixedly connected to a spring (13). The spring (13) is fixedly connected to a second spring connecting rope (14). The third tensioning member (10) is fixedly connected to a first connecting frame (24). The second spring connecting rope (14) passes through the first tensioning member (2), multiple second tensioning members (8), and the first connecting frame (24) and is fixedly connected to the second connecting frame (25).

3. The variable stiffness tensioning mechanism for rope traction according to claim 1, characterized in that: One end of the rope (7) of the rope drive mechanism is fixedly connected to the rope drive extension member (4) by a rope buckle, and the other end of the rope (7) of the rope drive mechanism is fixedly connected to the third tensioning member (10) by a rope buckle.

4. The variable stiffness tensioning mechanism for rope traction according to claim 1, characterized in that: The two ends of the first connecting rope (15) are fixedly connected to the first tensioning member (2) and the second tensioning member (8) respectively by rope buckles.

5. The variable stiffness tensioning mechanism for rope traction according to claim 1, characterized in that: The two ends of the second connecting rope (16) are respectively fixedly connected to the two second tensioning members (8) by rope buckles.

6. The variable stiffness tensioning mechanism for rope traction according to claim 1, characterized in that: The two ends of the third connecting rope (17) are fixedly connected to the second tensioning member (8) and the third tensioning member (10) respectively by rope buckles.

7. The variable stiffness tensioning mechanism for rope traction according to claim 1, characterized in that: The two ends of the fourth connecting rope (18) are fixedly connected to the third tensioning member (10) and the fourth tensioning member (11) respectively by rope buckles.

8. A variable stiffness tensioning mechanism for rope traction according to claim 2, characterized in that: One end of the first spring connecting rope (12) is fixedly connected to the servo arm (6) by a rope buckle, and the other end of the first spring connecting rope (12) is fixedly connected to the spring (13). One end of the second spring connecting rope (14) is fixedly connected to the spring (13), and the other end of the second spring connecting rope (14) is fixedly connected to the second connecting frame (25) by a rope buckle.

9. A rope-traction variable stiffness tensioning mechanism according to claim 2, characterized in that: Holes are provided at the front end and middle of the first support arm (9) and the second support arm (23), and holes are provided at the front end and middle of both sides of the upper side of the second connecting frame (25).

10. A rope-traction variable stiffness tensioning mechanism according to claim 9, characterized in that: The two ends of the first tensioning rope (19) are respectively fixedly connected to the first tensioning member (2) by rope buckles. The middle part of the first tensioning rope (19) passes through the hole at the front end of the first support arm (9) and through the hole in the middle part of the first support arm (9) and is fixedly connected to the middle part of the first support arm (9) by rope buckles. The two ends of the second tensioning rope (20) are respectively fixedly connected to the second tensioning member (8) by rope buckles. The middle part of the second tensioning rope (20) passes through the hole at the front end of the first support arm (9) and through the hole in the middle part of the first support arm (9) and is fixedly connected to the middle part of the first support arm (9) by rope buckles. The two ends of the third tensioning rope (21) are fixedly connected to the second tensioning member (8) by rope buckles. The middle part of the third tensioning rope (21) passes through the hole at the front end of the second support arm (23) and through the hole in the middle part of the second support arm (23) by rope buckles and is fixedly connected to the middle part of the second support arm (23). The two ends of the fourth tensioning rope (22) are fixedly connected to the third tensioning member (10) by rope buckles. The middle part of the fourth tensioning rope (22) passes through the hole at the front end of the second connecting frame (25) and through the hole in the middle part of the second connecting frame (25) by rope buckles and is fixedly connected to the middle part of the second connecting frame (25).

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