Rigidity-variable rope driving system

Abstract

The invention relates to the technical field of rope driving systems, in particular to a variable-rigidity rope driving system which comprises a base plate, a rope driving assembly, a first guide assembly and a first elastic mechanism, the rope driving assembly comprises a first driving rope, a second driving rope and a power assembly, and the power assembly is connected with the base plate; the power assembly is used for winding one of the first driving rope and the second driving rope and releasing the other one; the first guide assembly comprises a first guide wheel, a first swing arm, and at least one of a first driving rope and a second driving rope is wound on the first guide wheel; the first elastic mechanism comprises a first elastic assembly, a first movable assembly and a first moving fulcrum, the first movable assembly is used for driving the first moving fulcrum to slide on the two sides of the first guide wheel along the first swing arm, and the first elastic assembly is used for deforming along with swing of the first swing arm. Compared with the prior art, the effect that the rigidity of the rope driving system is adjustable is achieved by adjusting the position of the moving fulcrum, and the universality of the rope driving system can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of rope drive systems, and in particular to a variable stiffness rope drive system. Background Art

[0002] With the rapid development of technology, rope-driven systems are widely used in everyday situations. They are commonly used in transmission links such as robot joints, robotic arms, and human exoskeletons to perform various tasks. Different tasks require different stiffness from the rope-driven system. For example, high-speed motion requires a high-stiffness rope-driven system, while human-robot interaction requires a low-stiffness rope-driven system to achieve smooth interaction.

[0003] Currently, the transmission link stiffness of the common rope drive system is fixed, and the stiffness cannot be adjusted according to mission requirements. It cannot meet diverse mission requirements well, resulting in a variety of problems in the rope drive system, such as low versatility and safety hazards. Summary of the Invention

[0004] The present application mainly provides a variable stiffness rope drive system, which can improve the versatility of the rope drive system.

[0005] To solve the above technical problems, the present application adopts a technical solution: providing a variable stiffness rope drive system, comprising a base plate, a rope drive assembly, a first guide assembly, and a first elastic assembly, wherein the rope drive assembly comprises a first drive rope, a second drive rope, and a power assembly driving and connecting the first drive rope and the second drive rope, the power assembly being connected to the base plate and configured to reel in one of the first drive rope and release the other; the first guide assembly comprises a first guide wheel and a first swing arm, one end of the first swing arm being rotatably connected to the base plate, the first guide wheel being rotatably connected to the middle portion of the first swing arm, and at least one of the first drive rope and the second drive rope being wound around the first guide wheel; and a first elastic mechanism comprising a first elastic assembly, a first movable assembly, and a first movable fulcrum, the first movable assembly being connected to the base plate and one end of the first elastic assembly, the first movable fulcrum being transmission-connected to the other end of the first elastic assembly, the first movable assembly being configured to drive the first movable fulcrum to slide along the first swing arm on both sides of the first guide wheel, and the first elastic assembly being configured to deform with the swing of the first swing arm.

[0006] In a specific embodiment, the variable stiffness rope drive system also includes a second guide assembly and a second elastic mechanism, the first drive rope is wrapped around the first guide wheel; the second guide assembly includes a second guide wheel and a second swing arm, one end of the second swing arm is rotatably connected to the base plate, the second guide wheel is rotatably connected to the middle of the second swing arm, and the second drive rope is wrapped around the second guide wheel; the second elastic mechanism includes a second elastic assembly, a second movable assembly and a second movable fulcrum, the second movable assembly is connected to the base plate and one end of the second elastic assembly, the other end of the second elastic assembly is transmission-connected to the second movable fulcrum, the second movable assembly is used to drive the second movable fulcrum to slide along the second swing arm on both sides of the second guide wheel, and the second elastic assembly is used to deform with the swing of the second swing arm.

[0007] In a specific embodiment, the base plate includes a first rotating shaft, and the first swing arm and the second swing arm are connected to the first rotating shaft.

[0008] In a specific embodiment, the base plate further includes a movable shaft, and the first movable component and the second movable component are slidably connected to the movable shaft.

[0009] In a specific embodiment, the movable shaft includes a shaft and a first connecting member, the shaft is passed through and connected to the first connecting member, the base plate includes a fixed plate, the first rotating shaft, the power component, and the first connecting member are connected to the fixed plate; the first movable component and the second movable component are respectively connected to the shaft on both sides of the first connecting member, the shaft is perpendicular to the line connecting the first rotating shaft and the first connecting member, and the lengths of the shafts on both sides of the first connecting member are equal.

[0010] In a specific embodiment, the first movable component includes a first moving member, a first linear motor, and a second connecting member, the first linear motor is fixedly connected to the substrate, the output end of the first linear motor is connected to the first moving member, the second connecting member is fixedly connected to the first moving member and the first moving fulcrum, the second connecting member is slidably connected to the shaft, and the first linear motor is used to drive the first moving member to move along the shaft; and / or, the second movable component includes a second moving member, a second linear motor, and a third connecting member, the second linear motor is fixedly connected to the substrate, the output end of the second linear motor is connected to the second moving member, the second connecting member is fixedly connected to the second moving member and the second moving fulcrum, the third connecting member is slidably connected to the shaft, and the second linear motor is used to drive the second moving member to move along the shaft.

[0011] In a specific embodiment, the first linear motor is provided with a first threaded portion, the first movable member is provided with a second threaded portion, and the first threaded portion is engaged with the second threaded portion; and / or, the second linear motor is provided with a third threaded portion, the second movable member is provided with a fourth threaded portion, and the third threaded portion is engaged with the fourth threaded portion.

[0012] In a specific embodiment, the power assembly includes a driving member and a driving wheel, the base plate includes a second rotating shaft member, one end of the first driving rope and one end of the second driving rope are connected to the driving wheel, the driving wheel is rotatably connected to the second rotating shaft member, and the driving member is drivingly connected to the driving wheel; the first rotating shaft member, the second rotating shaft member, and the first connecting member are arranged on the fixed plate along the same straight line.

[0013] In a specific embodiment, the first elastic component includes a first spring, a first optical axis, a first stop block and a first movable block, the first optical axis is passed through the first spring and the first stop block, the first stop block presses against one end of the first spring, the first movable block presses against the other end of the first spring, the first optical axis connects the first movable block and the first movable fulcrum, and the first stop block is connected to the first movable component; and / or, the second elastic component includes a second spring, a second optical axis, a second stop block and a second movable block, the second optical axis is passed through the second spring and the second stop block, the second stop block presses against one end of the second spring, the second movable block presses against the other end of the second spring, the second optical axis connects the second movable block and the second movable fulcrum, and the second stop block is connected to the second movable component.

[0014] In a specific embodiment, the first elastic component further includes a first linear displacement encoder, which is connected to the first stop block and the first movable block, and is used to measure the compression of the first spring; and / or, the second elastic component further includes a second linear displacement encoder, which is connected to the second stop block and the second movable block, and is used to measure the compression of the second spring.

[0015] The beneficial effect of the present application is: different from the prior art, in the embodiment of the present application, the first movable fulcrum can slide along the first swing arm under the drive of the first movable component, the first movable fulcrum is transmission-connected to the first elastic component, at least one of the first drive rope and the second drive rope is wound around the first guide wheel, and when the power component works to output outward by using one of the first drive rope and the second drive rope wound around the first guide wheel, the position of the first movable fulcrum can be changed to change the force arm of the first elastic component providing pulling force to the first guide wheel, so that the degree to which the first swing arm is pulled by the first guide wheel changes with the movement of the first movable fulcrum.

[0016] Since one end of the first swing arm is rotatably connected to the base plate, as the first movable fulcrum moves away from the end of the first swing arm connected to the base plate, the equivalent stiffness of the first drive rope and / or the second drive rope wound on the first guide wheel when outputting tension outward gradually increases, thereby being able to flexibly regulate the equivalent stiffness of the first drive rope and / or the second drive rope when outputting tension outward, thereby achieving stiffness adjustment according to task requirements, meeting diverse task requirements well, and improving the versatility of the variable stiffness rope drive system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 This is a schematic diagram of the assembly structure of an embodiment of the variable stiffness rope drive system of the present application;

[0019] Figure 2 yes Figure 1 Schematic diagram of the assembly structure from another angle;

[0020] Figure 3 This is a schematic diagram of the exploded structure of an embodiment of the variable stiffness rope drive system of the present application;

[0021] Figure 4 This is a schematic diagram of the assembly structure of the first driving rope and the driving wheel of the variable stiffness rope drive system of the present application;

[0022] Figure 5 yes Figure 1 Schematic diagram of the cross-sectional structure of the section shown in AA;

[0023] Figure 6 This is a schematic diagram of the assembly structure of the movable shaft, the first guide assembly, the first elastic mechanism, the second guide assembly, and the second elastic mechanism of the variable stiffness rope drive system of the present application;

[0024] Figure 7 yes Figure 6 A schematic diagram of the cross-sectional structure of the section shown in BB;

[0025] Figure 8 This is a schematic diagram of the decomposed structure of the second elastic component of the variable stiffness rope drive system of the present application.

[0026] Figure ID:

[0027] 1. Variable stiffness rope drive system; 2. Base plate; 21. First rotating shaft; 22. Second rotating shaft; 23. Fixed plate; 24. Movable shaft; 241. Shaft; 242. First connecting member; 243. Limit block; 25. Protective cover; 251. Movable through slot; 261. First output end tensioning bolt; 262. First sleeve fixing block; 263. First conductor block; 271. Second output end tensioning bolt; 272. Second sleeve fixing block; 273. Second conductor block; 3. Rope drive assembly ; 31. First drive rope; 311. First rope embedding groove; 312. First rope winding groove; 32. Second drive rope; 321. Second rope embedding groove; 322. Second rope winding groove; 33. Power assembly; 331. Drive member; 332. Driving wheel; 333. Motor seat; 334. Output adapter; 335. Motor fixing member; 336. Drive wheel accommodating space; 337. Avoidance groove; 34. Rope embedding block; 4. First guide assembly; 41. First guide wheel; 42. First swing arm; 43. First slide; 5, first elastic mechanism; 51, first elastic component; 511, first spring; 512, first optical axis; 513, first stopper; 514, first movable block; 515, first linear displacement encoder; 52, first movable component; 521, first linear motor; 522, first threaded portion; 523, first moving member; 524, second threaded portion; 525, second connecting member; 53, first moving fulcrum; 6, second guide component; 61, second guide wheel; 62, first Second swing arm; 63, second slide groove; 7, second elastic mechanism; 71, second elastic component; 711, second spring; 712, second optical axis; 713, second stop block; 714, second movable block; 715, second linear displacement encoder; 716, second through hole; 72, second movable component; 721, second linear motor; 722, third threaded portion; 723, second moving part; 724, fourth threaded portion; 725, third connecting part; 73, second moving fulcrum; 8, linear bearing. DETAILED DESCRIPTION

[0028] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is particularly noted that the following embodiments are only used to illustrate the present application and do not limit the scope of the present application. Similarly, the following embodiments are only some embodiments of the present application and not all embodiments. All other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0029] The terms "first," "second," and "third" in this application are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of such features. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise specifically defined. All directional indications in the embodiments of this application (such as up, down, left, right, front, back...) are only used to explain the relative positional relationship, movement, etc. between the components under a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. A process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0030] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] With the rapid development of technology, rope-driven systems are widely used in everyday situations. They are commonly used in transmission links such as robot joints, robotic arms, and human exoskeletons to perform various tasks. Different tasks require different stiffness from the rope-driven system. For example, high-speed motion requires a high-stiffness rope-driven system, while human-robot interaction requires a low-stiffness rope-driven system to achieve smooth interaction.

[0032] Currently, the transmission link stiffness of the common rope drive system is fixed, and the stiffness cannot be adjusted according to mission requirements. It cannot meet diverse mission requirements well, resulting in a variety of problems in the rope drive system, such as low versatility and safety hazards.

[0033] In order to improve or solve the above technical problems, the inventors of this application have proposed at least the following embodiments after long-term research.

[0034] See Figure 1 、 Figure 2 , Figure 1 This is a schematic diagram of the assembly structure of an embodiment of the variable stiffness rope drive system of the present application. Figure 2 yes Figure 1 Schematic diagram of the assembly structure from another angle. This embodiment of the present application provides a variable-stiffness rope drive system 1, comprising a base plate 2, a rope drive assembly 3, a first guide assembly 4, and a first elastic assembly 51. The rope drive assembly 3 includes a first drive rope 31, a second drive rope 32, and a power assembly 33 that drives and connects the first and second drive ropes 31, 32. The power assembly 33 is connected to the base plate 2 and is used to reel in one of the first and second drive ropes 31, 32 and release the other.

[0035] The first drive rope 31 and the second drive rope 32 may each have one end connected to the power assembly 33 and the other end connected to an external structure for outputting tension to the external structure. The first drive rope 31 and the second drive rope 32 may comprise at least one of a polyethylene fiber rope, a polyamide fiber rope, an ultra-high molecular weight polyethylene monofilament rope, a steel wire rope, a synthetic fiber multifilament rope, a hybrid braided rope, and the like.

[0036] The first guide assembly 4 includes a first guide wheel 41 and a first swing arm 42. One end of the first swing arm 42 is rotatably connected to the base plate 2. The first guide wheel 41 is rotatably connected to the middle portion of the first swing arm 42. At least one of the first drive rope 31 and the second drive rope 32 is wound around the first guide wheel 41.

[0037] The first elastic mechanism 5 includes a first elastic component 51, a first movable component 52, and a first movable fulcrum 53. The first movable component 52 connects the base plate 2 and one end of the first elastic component 51, while the first movable fulcrum 53 is drivingly connected to the other end of the first elastic component 51. The first movable component 52 is used to drive the first movable fulcrum 53 to slide along the first swing arm 42 on both sides of the first guide wheel 41. The first elastic component 51 is designed to deform as the first swing arm 42 swings.

[0038] In the structure provided in the specific embodiment of the present application, the first movable fulcrum 53 can slide along the first swing arm 42 under the drive of the first movable component 52. The first movable fulcrum 53 is transmission-connected to the first elastic component 51. At least one of the first drive rope 31 and the second drive rope 32 is wound around the first guide wheel 41. When the power component 33 works to output outward using one of the first drive rope 31 and the second drive rope 32 wound around the first guide wheel 41, the position of the first movable fulcrum 53 can be changed to change the force arm of the first elastic component 51 providing tension to the first guide wheel 41, so that the degree to which the first swing arm 42 is pulled by the first guide wheel 41 changes with the movement of the first movable fulcrum 53.

[0039] Since one end of the first swing arm 42 is rotatably connected to the base plate 2, as the first movable fulcrum 53 moves away from the end of the first swing arm 42 connected to the base plate 2, the equivalent stiffness of the first drive rope 31 and / or the second drive rope 32 wound on the first guide wheel 41 when outputting tension outward gradually increases, thereby being able to flexibly regulate the equivalent stiffness of the first drive rope 31 and / or the second drive rope 32 when outputting tension outward, thereby achieving stiffness adjustment according to task requirements, meeting diverse task requirements well, and improving the versatility of the variable stiffness rope drive system 1.

[0040] See Figure 1 In one embodiment of the present application, the variable-rigidity rope drive system 1 further includes a second guide assembly 6 and a second elastic mechanism 7. The first drive rope 31 is wound around the first guide wheel 41. The second guide assembly 6 includes a second guide wheel 61 and a second swing arm 62. One end of the second swing arm 62 is rotatably connected to the base plate 2. The second guide wheel 61 is rotatably connected to the middle portion of the second swing arm 62, and the second drive rope 32 is wound around the second guide wheel 61.

[0041] The second elastic mechanism 7 includes a second elastic component 71, a second movable component 72, and a second movable fulcrum 73. The second movable component 72 is connected to the base plate 2 and one end of the second elastic component 71, and the other end of the second elastic component 71 is transmission-connected to the second movable fulcrum 73. The second movable component 72 is used to drive the second movable fulcrum 73 to slide along the second swing arm 62 on both sides of the second guide wheel 61. The second elastic component 71 is used to deform with the swing of the second swing arm 62.

[0042] In the structure provided in this specific embodiment, a second guide component 6 and a second elastic mechanism 7 that are relatively independent of the first guide component 4 and the first elastic mechanism 5 are provided. The stiffness output by the second drive rope 32 can be regulated using the same principle as the first guide component 4 and the first elastic mechanism 5, thereby realizing separate control of the output stiffness of the first drive rope 31 and the second drive rope 32, and providing different stiffnesses when the rope drive component 3 outputs in two different directions to meet different force requirements.

[0043] Taking the use of the variable stiffness rope drive system 1 to assist walking as an example, when the first drive rope 31 outputs a pulling force outward, it assists the action of extending the leg to take a step, and when the second drive rope 32 outputs a pulling force outward, it assists the action of bending the leg and pushing off the ground. The two different actions have different requirements for the equivalent stiffness of the first drive rope 31 and the second drive rope 32. By separately regulating the output stiffness of the first drive rope 31 and the second drive rope 32, the output stiffness of the first drive rope 31 and the second drive rope 32 can simultaneously meet the requirements of the two different actions.

[0044] See Figure 6 , Figure 6 This is a schematic diagram of the assembly structure of the movable shaft, first guide assembly, first elastic mechanism, second guide assembly, and second elastic mechanism of the variable stiffness rope drive system of the present application. A first chute 43 can be defined in the first swing arm 42 and disposed along the first swing arm 42. A first movable fulcrum 53 is constrained within the first chute 43 and can flexibly move within the first chute 43 along the first swing arm 42, thereby achieving stepless switching of the equivalent stiffness from minimum to maximum, thereby enhancing the flexibility and accuracy of stiffness adjustment of the variable stiffness rope drive system 1.

[0045] For example, Figure 6 As shown, when the first movable fulcrum 53 is located in the middle of the first chute 43, the equivalent stiffness of the first drive rope 31 is medium stiffness. When the first movable fulcrum 53 is located at the rightmost side of the first chute 43, the moment arm of the first elastic mechanism 5 is minimum, and the equivalent stiffness of the first drive rope 31 is minimum stiffness. When the first movable fulcrum 53 is located at the leftmost side of the first chute 43, the moment arm of the first elastic mechanism 5 is maximum, and the equivalent stiffness of the first drive rope 31 is maximum stiffness.

[0046] When the second movable fulcrum 73 is located in the middle of the second chute 63, the equivalent stiffness of the second drive rope 32 is medium. When the second movable fulcrum 73 is located at the rightmost side of the second chute 63, the moment arm of the second elastic mechanism 7 is maximum, and the equivalent stiffness of the second drive rope 32 is maximum. When the second movable fulcrum 73 is located at the leftmost side of the second chute 63, the moment arm of the second elastic mechanism 7 is minimum, and the equivalent stiffness of the second drive rope 32 is minimum.

[0047] Similarly, a second slide groove 63 can be opened in the second swing arm 62, and the second slide groove 63 is arranged along the second swing arm 62. The second movable fulcrum 73 is limited in the second slide groove 63, and the second movable fulcrum 73 can move flexibly in the second slide groove 63 along the second swing arm 62, thereby realizing stepless switching of equivalent stiffness from minimum to maximum, thereby improving the flexibility and accuracy of stiffness adjustment of the variable stiffness rope drive system 1.

[0048] like Figure 5 、 Figure 6 As shown, Figure 5 yes Figure 1 Schematic diagram of the cross-sectional structure shown along the section AA in FIG. In one embodiment of the present application, the base plate 2 may include a first rotating shaft 21, to which the first swing arm 42 and the second swing arm 62 are connected. In the structure provided in this embodiment, the first swing arm 42 and the second swing arm 62 are connected to the same rotating shaft, making the variable stiffness rope drive system 1 provided in this application more compact and simple.

[0049] like Figure 2 As shown, in one embodiment of the present application, the base plate 2 further includes a movable shaft 24, and the first movable assembly 52 and the second movable assembly 72 are slidably connected to the movable shaft 24. In the structure provided in this embodiment, the first movable assembly 52 and the second movable assembly 72 share the same movable shaft 24, making the variable stiffness rope drive system 1 provided in this application more compact and simple in structure, and suitable for use in relatively narrow spaces such as robot finger joints.

[0050] See Figure 2 In one embodiment of the present application, the movable shaft 24 includes a shaft 241 and a first connecting member 242. The shaft 241 is connected to the first connecting member 242. The base plate 2 includes a fixed plate 23, and the first rotating shaft 21, the power assembly 33, and the first connecting member 242 are connected to the fixed plate 23. The first movable assembly 52 and the second movable assembly 72 are respectively connected to the shafts 241 on both sides of the first connecting member 242. The shafts 241 are perpendicular to the line connecting the first rotating shaft 21 and the first connecting member 242, and the shafts 241 on both sides of the first connecting member 242 are equal in length.

[0051] In the structure provided in this specific embodiment, by setting the shafts 241 on both sides of the first connecting member 242 to be equal in length and setting the shafts 241 perpendicular to the line connecting the first rotating shaft 21 and the first connecting member 242, the first guide assembly 4, the second guide assembly 6, the first elastic mechanism 5, and the second elastic mechanism 7 are symmetrically arranged, which can improve the structural stability of the variable stiffness rope drive system 1.

[0052] Alternatively, as Figure 2 As shown, the movable shaft 24 may further include a limit block. The limit block is provided at both ends of the shaft 241 and connected to the fixing plate 23, thereby limiting the range of motion of the first movable assembly 52 and the second movable assembly 72 along the shaft 241, thereby preventing the first movable assembly 52 and the second movable assembly 72 from slipping off the shaft 241.

[0053] like Figure 1As shown, the base plate 2 may include a first output end tensioning bolt 261, a first sleeve fixing block 262, and a first wire block 263 for limiting and controlling the extension direction of the first drive rope 31. The first sleeve fixing block 262 and the first wire block 263 are fixed to the fixing plate 23, the first output end tensioning bolt 261 is connected to the first sleeve fixing block 262, and the first drive rope 31 is sequentially passed through the first wire block 263, the first sleeve fixing block 262, and the first output end tensioning bolt 261. The end of the first drive rope 31 close to the first output end tensioning bolt 261 is used for external output. For the second drive rope 32, as shown in FIG. Figure 3 As shown, Figure 3 This is a schematic diagram of the exploded structure of an embodiment of the variable stiffness rope drive system 1 of the present application. Similarly, a second output end tensioning bolt 271, a second sleeve fixing block 272 and a second wire block 273 are also provided.

[0054] like Figure 6 、 Figure 7 As shown, Figure 7 yes Figure 6 Schematic diagram of the cross-sectional structure of the cross section shown in BB. In a specific embodiment of the present application, the first movable component 52 includes a first moving member 523, a first linear motor 521, and a second connecting member 525. The first linear motor 521 is fixedly connected to the base plate 2, and the output end of the first linear motor 521 is connected to the first moving member 523. The second connecting member 525 is fixedly connected to the first moving member 523 and the first moving fulcrum 53, and the second connecting member 525 is slidably connected to the shaft 241. The first linear motor 521 is used to drive the first moving member 523 to move along the shaft 241.

[0055] See Figure 8 , Figure 8 Schematic diagram of the exploded structure of the second elastic component 71 of the variable stiffness rope drive system 1 of the present application. The second movable component 72 may include a second movable member 723, a second linear motor 721, and a third connecting member 725. The second linear motor 721 is fixedly connected to the base plate 2, and the output end of the second linear motor 721 is connected to the second movable member 723. The second connecting member 525 is fixedly connected to the second movable member 723 and the second movable fulcrum 73, and the third connecting member 725 is slidably connected to the shaft 241. The second linear motor 721 is used to drive the second movable member 723 to move along the shaft 241.

[0056] In the structure provided in this specific embodiment, the first moving member 523 is connected to the shaft 241 through the second connecting member 525, and the first linear motor 521 can drive the first moving member 523 to move parallel to the shaft 241. Under the action of the first linear motor 521, the first moving fulcrum 53 connected to the second connecting member 525 can be kept moving evenly and stably along the first swing arm 42. The same applies to the second moving member 723, the second linear motor 721, the third connecting member 725, and the second moving fulcrum 73. This can improve the stability and accuracy of the stiffness adjustment of the first drive rope 31 and the second drive rope 32, which is conducive to improving the flexibility and versatility of the variable stiffness rope drive system 1.

[0057] See Figure 2 Optionally, the base plate 2 may further include a protective cover 25, which is sleeved over at least a portion of the outer periphery of the first linear motor 521, the first movable member 523, the second linear motor 721, and the second movable member 723, and the protective cover 25 is connected to the fixed plate 23. The protective cover 25 defines a movable through-slot 251, through which the second connecting member 525 and the third connecting member 725 are inserted. While not hindering the movement of the second connecting member 525 and the third connecting member 725 along the shaft 241, the protective cover 25 can provide protection for the first linear motor 521, the second linear motor 721, the first movable member 523, and the second movable member 723, thereby reducing the impact of external interference on the stiffness adjustment process.

[0058] like Figure 7 As shown, in a specific embodiment of the present application, the first linear motor 521 may be provided with a first threaded portion 522 , and the first moving member 523 may be provided with a second threaded portion 524 , and the first threaded portion 522 is engaged with the second threaded portion 524 .

[0059] Optionally, the second linear motor 721 may be provided with a third threaded portion 722 , and the second moving member 723 may be provided with a fourth threaded portion 724 , and the third threaded portion 722 is engaged with the fourth threaded portion 724 .

[0060] In the structure provided in this specific embodiment, the first linear motor 521 can control the first movable member 523 provided with the second threaded portion 524 to move in different directions parallel to the shaft 241 by rotating the first threaded portion 522 in different directions. The distance moved by the first movable member 523 can be controlled by controlling the number of rotations of the first threaded portion 522. The same applies to the second linear motor 721 and the second movable member 723. This can improve the stability and accuracy of the stiffness adjustment of the first drive rope 31 and the second drive rope 32, which is beneficial to improving the flexibility and versatility of the variable stiffness rope drive system 1.

[0061] See Figure 3In one embodiment of the present application, the power assembly 33 may include a driving member 331 and a driving pulley 332. The base plate 2 includes a second rotating shaft 22. One end of the first driving rope 31 and one end of the second driving rope 32 are connected to the driving pulley 332. The driving pulley 332 is rotatably connected to the second rotating shaft 22, and the driving member 331 is driven to connect to the driving pulley 332. The first rotating shaft 21, the second rotating shaft 22, and the first connecting member 242 are arranged along the same straight line on the fixed plate 23.

[0062] The driving member 331 may be an electric motor. By controlling the forward and reverse rotation of the motor, the driving wheel 332 can be controlled to rotate in different directions. For example, if the motor is a three-phase asynchronous motor, the phase sequence of the motor power supply can be switched (commutated) by switching any two phases. For example, the V phase can be kept unchanged and the U phase can be switched with the W phase to achieve phase commutation.

[0063] In the structure provided in this specific embodiment, the first drive rope 31 and the second drive rope 32 are driven by a unified driving wheel 332. The driving wheel 332 is controlled to rotate in different directions by the driving member 331, so that the tension can be output outward through the first drive rope 31 or the second drive rope 32. The variable stiffness rope drive system 1 is symmetrically arranged as a whole, which can ensure the structural stability of the variable stiffness rope drive system 1.

[0064] See Figure 3 、 Figure 4 , Figure 3 It is a schematic diagram of the exploded structure of an embodiment of the variable stiffness rope drive system of the present application. Figure 4 This is a schematic diagram of the assembly structure of the first drive rope and driving pulley of the variable-stiffness rope drive system of the present application. The driving pulley 332 may be provided with a first rope embedding groove 311, a second rope embedding groove 321, a first rope winding groove 312, and a second rope winding groove 322. The first rope winding groove 312 and the second rope winding groove 322 are arranged along the circumference of the driving pulley 332. One end of the first drive rope 31 is embedded and fixed in the first rope embedding groove 311, which communicates with the first rope winding groove 312. When the driving pulley 332 rotates to reel in the first drive rope 31, the first drive rope 31 is wound around the first rope winding groove 312. One end of the second drive rope 32 is embedded and fixed in the second rope embedding groove 321, which communicates with the second rope winding groove 322. When the driving pulley 332 rotates to reel in the second drive rope 32, the second drive rope 32 is wound around the second rope winding groove 322.

[0065] Alternatively, as Figure 3 、 Figure 4As shown, the end of the first drive rope 31 connected to the driving pulley 332 may be connected to a rope-engaging block 34. The outline of the rope-engaging block 34 matches the outline of the first rope-engaging groove 311. When the first drive rope 31 and the driving pulley 332 are assembled, the rope-engaging block 34 can be inserted into the first rope-engaging groove 311 parallel to the axial direction of the second rotating shaft member 22. The first rope-engaging groove 311 can limit the rope-engaging block 34 along the circumference of the driving pulley 332. During the process of rotating the driving pulley 332 to reel in and release the first drive rope 31, the limiting effect of the first rope-engaging groove 311 on the rope-engaging block 34 maintains the driving connection between the first drive rope 31 and the driving pulley 332. The rope-engaging block 34 can be provided similarly for the second drive rope 32 and the second rope-engaging groove 311.

[0066] The winding direction of the first driving rope 31 in the first rope winding groove 312 is opposite to the winding direction of the second driving rope 32 in the second rope winding groove 322 .

[0067] like Figure 3 As shown, the power assembly 33 includes a motor base 333, an output adapter plate 334, and a motor mount 335. The motor mount 335 is connected to the fixing plate 23 and defines a drive wheel accommodating space 336 for mounting a driving wheel 332. The driving wheel 332 is rotatably connected to the second rotating shaft member 22 disposed in the drive wheel accommodating space 336. The motor base 333 is fixedly connected to the driving member 331. The motor base 333 covers the drive wheel accommodating space 336 and is connected to the motor mount 335. The driving member 331 is drivingly connected to the driving wheel 332 via the output adapter plate 334, thereby controlling the rotation of the driving wheel 332 within the drive wheel accommodating space 336. The motor mount 335 is provided with two escape grooves 337. The first drive rope 31 and the second drive rope 32 passing through the escape grooves 337 can be wound around the first guide wheel 41 and the second guide wheel 61, respectively.

[0068] like Figure 5 、 Figure 6 As shown, in a specific embodiment of the present application, the first elastic component 51 includes a first spring 511, a first optical axis 512, a first stop 513, and a first movable block 514. The first optical axis 512 is disposed through the first spring 511 and the first stop 513. The first stop 513 abuts one end of the first spring 511, and the first movable block 514 abuts the other end of the first spring 511. The first optical axis 512 connects the first movable block 514 and the first movable fulcrum 53, and the first stop 513 connects to the first movable component 52. The number of first springs 511 and first optical axes 512 can be multiple, and the multiple first springs 511 and first optical axes 512 correspond one to one, so that the movement of the first movable block 514 relative to the first stop 513 is more uniform and stable.

[0069] See Figure 6 、 Figure 8 The second elastic component 71 may include a second spring 711, a second optical axis 712, a second stop 713, and a second movable block 714. The second optical axis 712 is disposed through the second spring 711 and the second stop 713. The second stop 713 abuts one end of the second spring 711, and the second movable block 714 abuts the other end of the second spring 711. The second optical axis 712 connects the second movable block 714 and the second movable fulcrum 73, and the second stop 713 connects to the second movable component 72. There may be multiple second springs 711 and second optical axes 712, and the multiple second springs 711 and the second optical axes 712 correspond one to one, so that the movement of the second movable block 714 relative to the second stop 713 is more uniform and stable.

[0070] The variable stiffness rope drive system 1 may further include linear bearings, which are provided in a one-to-one correspondence with the first optical axis 512 and the second optical axis 712. The linear bearings have good wear resistance and high precision, and can cooperate with the first optical axis 512 and the second optical axis 712 to achieve high-precision linear motion with low friction resistance.

[0071] In the structure provided in this embodiment, when the first drive rope 31 is output, causing the first guide wheel 41 to be pulled, the first movable fulcrum 53 is pulled downward by the first swing arm 42, pulling the first optical axis 512 downward. The first optical axis 512 drives the first movable block 514 toward the first stopper 513, compressing the first spring 511. The elastic force generated by the compression of the first spring 511 thereby provides tension for the first guide wheel 41. The stiffness of the first spring 511 itself remains constant. As the first spring 511 moves to different positions with the first movable fulcrum 53, the first swing arm 42 is forced downward to different amplitudes, thereby controlling the stiffness of the outward pulling force output by the first drive rope 31 and achieving stiffness adjustment of the variable-stiffness rope drive system 1. The same applies to the second drive rope 32, significantly enhancing the flexibility and versatility of the variable-stiffness rope drive system 1.

[0072] like Figure 8 As shown, the second stopper 713 may be provided with a second through hole 716. The number of the second through holes 716 is the same as the number of the second springs 711 and the second optical axis 712. The second optical axis 712 is passed through the second through holes 716. The second spring 711 abuts against the second stopper 713 on the periphery of the second through hole 716. The second through hole 716 can control the force direction of the second spring 711 by limiting the second optical axis 712.

[0073] like Figure 1 、 Figure 5As shown, in a specific embodiment of the present application, the first elastic component 51 further includes a first linear displacement encoder 515, which is connected to the first stopper 513 and the first movable block 514. The first linear displacement encoder 515 is used to measure the compression amount of the first spring 511.

[0074] Optionally, the second elastic component 71 further includes a second linear displacement encoder 715 , which is connected to the second stop block 713 and the second movable block 714 . The second linear displacement encoder 715 is used to measure the compression amount of the second spring 711 .

[0075] In the structure provided in this specific embodiment, by setting the first linear displacement encoder 515 and the second linear displacement encoder 715, the displacement of the first movable block 514 and the second movable block 714 can be measured, and the deformation of the first spring 511 arranged between the first stop block 513 and the first movable block 514 and the second spring 711 arranged between the second stop block 713 and the second movable block 714 can be respectively measured, so that the current equivalent stiffness of the first drive rope 31 and the second drive rope 32 can be intuitively fed back through the deformation of the first spring 511 and the second spring 711, which is conducive to accurately adjusting the first drive rope 31 and the second drive rope 32 to the required stiffness, and can improve the accuracy of the stiffness adjustment of the variable stiffness rope drive system 1.

[0076] The above description is only part of the implementation methods of the present application, and does not limit the scope of protection of the present application. Any equivalent device or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly used in other related technical fields, are also included in the scope of patent protection of this application.

Claims

1. A variable stiffness rope drive system, characterized in that: include: base(2); A rope drive assembly (3) comprises a first drive rope (31), a second drive rope (32), and a power assembly (33) driving and connecting the first drive rope (31) and the second drive rope (32), wherein the power assembly (33) is connected to the base plate (2) and is used to reel in one of the first drive rope (31) and the second drive rope (32) and release the other. a first guide assembly (4), comprising a first guide wheel (41) and a first swing arm (42); one end of the first swing arm (42) is rotatably connected to the base plate (2); the first guide wheel (41) is rotatably connected to the middle portion of the first swing arm (42); and at least one of the first drive rope (31) and the second drive rope (32) is wound around the first guide wheel (41); The first elastic mechanism (5) comprises a first elastic component (51), a first movable component (52) and a first movable fulcrum (53), wherein the first movable component (52) is connected to the substrate (2) and one end of the first elastic component (51), and the first movable fulcrum (53) is transmission-connected to the other end of the first elastic component (51). The first movable component (52) is used to drive the first movable fulcrum (53) to slide along the first swing arm (42) on both sides of the first guide wheel (41), and the first elastic component (51) is used to deform as the first swing arm (42) swings.

2. The variable stiffness rope drive system according to claim 1, characterized in that: The variable stiffness rope drive system (1) further comprises a second guide assembly (6) and a second elastic mechanism (7); the first drive rope (31) is wound around the first guide wheel (41); The second guide assembly (6) comprises a second guide wheel (61) and a second swing arm (62); one end of the second swing arm (62) is rotatably connected to the base plate (2); the second guide wheel (61) is rotatably connected to the middle portion of the second swing arm (62); and the second drive rope (32) is wound around the second guide wheel (61); The second elastic mechanism (7) comprises a second elastic component (71), a second movable component (72) and a second movable fulcrum (73), wherein the second movable component (72) is connected to the substrate (2) and one end of the second elastic component (71), and the other end of the second elastic component (71) is connected to the second movable fulcrum (73) through transmission, and the second movable component (72) is used to drive the second movable fulcrum (73) to slide along the second swing arm (62) on both sides of the second guide wheel (61), and the second elastic component (71) is used to deform along with the swing of the second swing arm (62).

3. The variable stiffness rope drive system according to claim 2, characterized in that: The base plate (2) comprises a first rotating shaft (21), and the first swing arm (42) and the second swing arm (62) are connected to the first rotating shaft (21).

4. The variable stiffness rope drive system according to claim 3, characterized in that: The base plate (2) further comprises a movable shaft (24), and the first movable component (52) and the second movable component (72) are slidably connected to the movable shaft (24).

5. The variable stiffness rope drive system according to claim 4, characterized in that: The movable shaft (24) includes a shaft (241) and a first connecting member (242), the shaft (241) is connected to the first connecting member (242), the base plate (2) includes a fixed plate (23), the first rotating shaft (21), the power assembly (33), and the first connecting member (242) are connected to the fixed plate (23); The first movable component (52) and the second movable component (72) are respectively connected to the shafts (241) on both sides of the first connecting member (242), the shafts (241) are perpendicular to the line connecting the first rotating shaft (21) and the first connecting member (242), and the shafts (241) on both sides of the first connecting member (242) are equal in length.

6. The variable stiffness rope drive system according to claim 5, characterized in that: The first movable component (52) comprises a first moving member (523), a first linear motor (521), and a second connecting member (525), wherein the first linear motor (521) is fixedly connected to the substrate (2), an output end of the first linear motor (521) is connected to the first moving member (523), the second connecting member (525) is fixedly connected to the first moving member (523) and the first moving fulcrum (53), the second connecting member (525) is slidably connected to the shaft (241), and the first linear motor (521) is used to drive the first moving member (523) to move along the shaft (241); and / or, The second movable component (72) includes a second moving member (723), a second linear motor (721), and a third connecting member (725), wherein the second linear motor (721) is fixedly connected to the substrate (2), the output end of the second linear motor (721) is connected to the second moving member (723), the second connecting member (525) is fixedly connected to the second moving member (723) and the second moving fulcrum (73), the third connecting member (725) is slidably connected to the shaft (241), and the second linear motor (721) is used to drive the second moving member (723) to move along the shaft (241).

7. The variable stiffness rope drive system according to claim 6, characterized in that: The first linear motor (521) is provided with a first threaded portion (522), the first moving member (523) is provided with a second threaded portion (524), the first threaded portion (522) and the second threaded portion (524) being engaged with each other; and / or, The second linear motor (721) is provided with a third threaded portion (722), the second moving member (723) is provided with a fourth threaded portion (724), and the third threaded portion (722) is engaged with the fourth threaded portion (724).

8. The variable stiffness rope drive system according to claim 5, characterized in that: The power assembly (33) includes a driving member (331) and a driving wheel (332); the base plate (2) includes a second rotating shaft (22); one end of the first driving rope (31) and one end of the second driving rope (32) are connected to the driving wheel (332); the driving wheel (332) is rotatably connected to the second rotating shaft (22); and the driving member (331) is driven to connect to the driving wheel (332); The first rotating shaft component (21), the second rotating shaft component (22), and the first connecting component (242) are arranged on the fixing plate (23) along the same straight line.

9. The variable stiffness rope drive system according to any one of claims 1 to 8, characterized in that: The first elastic component (51) includes a first spring (511), a first optical axis (512), a first stopper (513) and a first movable block (514); the first optical axis (512) passes through the first spring (511) and the first stopper (513); the first stopper (513) presses against one end of the first spring (511); the first movable block (514) presses against the other end of the first spring (511); the first optical axis (512) connects the first movable block (514) and the first movable fulcrum (53); and the first stopper (513) connects the first movable component (52); and / or, The second elastic component (71) includes a second spring (711), a second optical axis (712), a second stop block (713) and a second movable block (714); the second optical axis (712) is passed through the second spring (711) and the second stop block (713); the second stop block (713) abuts one end of the second spring (711); the second movable block (714) abuts the other end of the second spring (711); the second optical axis (712) connects the second movable block (714) and the second movable fulcrum (73); and the second stop block (713) connects the second movable component (72).

10. The variable stiffness rope drive system according to claim 9, characterized in that: The first elastic component (51) further includes a first linear displacement encoder (515), the first linear displacement encoder (515) is connected to the first stop block (513) and the first movable block (514), and the first linear displacement encoder (515) is used to measure the compression amount of the first spring (511); and / or, The second elastic component (71) further includes a second linear displacement encoder (715), the second linear displacement encoder (715) is connected to the second stop block (713) and the second movable block (714), and the second linear displacement encoder (715) is used to measure the compression amount of the second spring (711).

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