Flexible arm with modularized rope-driven stretching and bending functions
By using a modular, rope-driven flexible arm design with telescopic and bending functions, the problem of insufficient dynamic interaction and task adaptability of traditional robotic arms is solved. This enables multi-degree-of-freedom operation and complex spatial positioning, improving the flexibility and adaptability of the robotic arm in unstructured environments.
Patent Information
- Application Number
- CN202511135086.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-14
- Publication Date
- 2025-11-07
AI Technical Summary
The rigid linkage structure of traditional robotic arms suffers from insufficient operational flexibility and task adaptability in dynamic interactive scenarios, especially in unstructured environments where it is difficult to operate flexibly. Furthermore, the high thermal management and cost of transmission components limit its mobility and safety in confined spaces.
The flexible arm, which adopts modular rope-driven telescopic and bending functions, achieves axial telescopic and multi-directional bending motion through the combined design of rope-driven telescopic module, rope-driven bending module and rope-driven force module, enhancing multi-degree-of-freedom operation capability. It also absorbs collision energy through prestressed cable rod structure and springs, improving environmental adaptability and protecting target objects.
It significantly improves the operational flexibility and adaptability of the robotic arm, achieves complex spatial positioning and high flexibility, optimizes space utilization, and enhances adaptability and impact resistance in unstructured environments.
Smart Images
Figure CN120902012A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of mechanical arms, and in particular to a modular flexible arm with rope-driven telescoping and bending functions. BACKGROUND
[0002] In the field of mechanical arms, traditional mechanical arms have long relied on rigid joint configurations with gear transmission. These joints also include motors and brake systems, etc. For example, the European robotic arm ERA contains 2 end effectors, 2 wrist joints, 1 elbow joint, etc., which are not only large in size but also heavy in quality. The Japanese Experiment Module Remote Manipulator System JEMRMS contains 3 arm rods, 1 end effector, etc., and the quality is close to one ton. This type of structure leads to the fact that the power unit occupies the absolute mass of the device. The core problem is that the output shaft of the gear box is close to the joint center line, forcing the drive system to generate high torque under a very short force arm, thereby causing the transmission assembly to expand in geometric progression. This design not only causes the joint chamber to be severely crowded - the motor, reducer and wire harness interfere with each other, but also significantly increases the difficulty of heat management and manufacturing cost, severely restricting the maneuverability of the mechanical arm in the compact space of the spacecraft cabin, limiting the operational flexibility of the mechanical arm in limited space.
[0003] The rigid link architecture of the current mainstream mechanical arm exposes systematic defects in dynamic interaction scenarios. Existing systems such as the Canadian Canadarm2 space manipulator have their hardware configuration fixed in the extravehicular device handling scenario. When used for microorganism sampling on the International Space Station, a special end tool module needs to be integrated. This extension not only reduces the joint load margin, but also causes a delay in attitude control response. When performing satellite capture or post-disaster life detection tasks, the force transmission path lacks deformation freedom, resulting in a large impact momentum at the moment of collision. This force transmission rigidity also restricts medical application scenarios - in neurosurgery navigation surgery, the rigid link structure of traditional mechanical arms cannot guarantee the safety threshold of the blood vessel wall contact pressure, forcing the doctor to reduce the operation speed. Therefore, rigid mechanical arms have structural bottlenecks in terms of task adaptability.
[0004] In the face of the dual bottlenecks of rigid mechanical arms in dynamic interaction and task adaptability, global research institutions are working to break through the boundaries of material science, structural design and drive technology. For example, developing variable stiffness joint materials to improve structural adaptability; building a library of modular functional units to support hardware reconstruction; and replacing gear transmission with bionic muscle drive topology to optimize the mass power ratio. This will comprehensively improve human-machine collaboration efficiency and enable new scenarios of safer, more flexible and universal intelligent operations. SUMMARY
[0005] The present application aims to provide a modular rope-driven telescopic and bending flexible arm, which combines telescopic and bending functions through modular design, aiming to improve the operation flexibility and adaptability of the robotic arm in unstructured environment.
[0006] In order to achieve the above technical effects, the present application provides a modular rope-driven telescopic and bending flexible arm, which comprises a plurality of rope-driven telescopic modules, rope-driven bending modules and rope-driven power modules in various optional assembly modes; in one of the optional assembly modes, a plurality of rope-driven telescopic modules are connected in sequence, the rope-driven power module is connected with the rope-driven telescopic module placed at the starting position, and the rope-driven power module is used to drive a plurality of rope-driven telescopic modules to perform synchronous telescopic deformation, at this time the rope-driven power module and a plurality of rope-driven telescopic modules form a telescopic arm segment; in one of the optional assembly modes, a plurality of rope-driven bending modules are connected in sequence, the rope-driven power module is connected with the rope-driven bending module placed at the starting position, and the rope-driven power module is used to drive a plurality of rope-driven bending modules to perform synchronous bending deformation, at this time the rope-driven power module and a plurality of rope-driven bending modules form a bending arm segment; in one of the optional assembly modes, the telescopic arm segment and the bending arm segment are connected with each other.
[0007] In one embodiment, the rope-driven telescopic module comprises a telescopic module base, a telescopic module linkage connected between two telescopic module bases, and a telescopic module reset unit provided on the telescopic module linkage; the telescopic module base is used to connect with the adjacent telescopic module base or the rope-driven power module; the telescopic module linkage is used to control the telescopic module to perform telescopic deformation; and the telescopic module reset unit is used to control the telescopic module linkage to reset to the extended state.
[0008] In one of the embodiments, the telescopic module linkage includes telescopic module outer rods, telescopic module inner rods, telescopic module connecting rods, and telescopic module shaft rods; on the first block of the telescopic module base of the rope-driven telescopic module, the opposite sides are both rotationally installed with the telescopic module outer rods and the telescopic module inner rods arranged in a staggered manner; on the second block of the telescopic module base of the rope-driven telescopic module, the opposite sides are also both rotationally installed with the telescopic module outer rods and the telescopic module inner rods arranged in a staggered manner; a plurality of the telescopic module outer rods are respectively arranged outside a plurality of adjacent telescopic module inner rods; the telescopic module outer rods on the second block of the telescopic module base are rotationally connected with the telescopic module inner rods on the first block of the telescopic module base to form telescopic module rotation joints, the telescopic module rotation joints are rotationally connected with the telescopic module connecting rods, and the telescopic module connecting rods are rotationally connected with the middle portions of the telescopic module outer rods on the first block of the telescopic module base; the telescopic module inner rods on the second block of the telescopic module base are also rotationally connected with the telescopic module outer rods on the first block of the telescopic module base to also form the telescopic module rotation joints, the telescopic module rotation joints are also rotationally connected with the telescopic module connecting rods, and the telescopic module connecting rods are rotationally connected with the middle portions of the telescopic module outer rods on the second block of the telescopic module base; and the telescopic module shaft rods are connected between the telescopic module rotation joints with opposite rotation centers.
[0009] In one of the embodiments, the telescopic module reset unit includes telescopic module first springs and telescopic module second springs; the telescopic module first springs are connected between the two telescopic module shaft rods; the telescopic module shaft rods are connected with two telescopic module second springs, and the two telescopic module second springs are respectively connected with the two telescopic module bases of the rope-driven telescopic module.
[0010] In one of the embodiments, the rope-driven bending module includes bending module bases, a bending module linkage connected between the two bending module bases, and a bending module reset unit arranged on the bending module linkage; the bending module base is used to be connected with an adjacent bending module base or to be connected with the rope-driven driving force module; the rotation bending of the bending module linkage is used to control the bending of the rope-driven bending module; and the bending module reset unit is used to control the bending module linkage to reset to a straightened state.
[0011] In one of the embodiments, the bending module linkage includes bending module outer rods, bending module inner rods, bending module shaft rods, and bending module connecting rods; on the first block of the rope-driven bending module, the bending module base, the opposite sides are both rotatably installed with the bending module outer rods and the bending module inner rods arranged in a staggered manner; on the second block of the rope-driven bending module, the bending module base, the opposite sides are also both rotatably installed with the bending module outer rods and the bending module inner rods arranged in a staggered manner; a plurality of the bending module outer rods are respectively arranged outside a plurality of adjacent bending module inner rods; the bending module outer rods on the second block of the bending module base are rotatably connected with the bending module inner rods on the first block of the bending module base to form bending module rotary joints; the bending module inner rods on the second block of the bending module base are also rotatably connected with the bending module outer rods on the first block of the bending module base to also form the bending module rotary joints; the bending module shaft rods are connected between the bending module rotary joints with opposite rotary centers; the bending module connecting rods are connected between the bending module rotary joints on the same side of the two bending module shaft rods.
[0012] In one of the embodiments, the bending module reset unit includes a plurality of bending module springs; the bending module shaft rods are connected with two bending module springs, and the two bending module springs are respectively connected with the two bending module bases of the rope-driven bending module.
[0013] In one of the embodiments, the rope driving force module includes a top disc, a bottom disc, and a self-rotation unit and a rope driving unit arranged between the top disc and the bottom disc; the top disc and the bottom disc are both used to be connected with the rope-driven telescopic module or the rope-driven bending module; the self-rotation unit is used to drive the top disc to rotate; the rope driving unit is used to drive the rope-driven telescopic module to telescope or drive the rope-driven bending module to bend.
[0014] In one of the embodiments, the self-rotation unit includes a self-rotation steering engine, a self-rotation transmission gear, and a gear turntable; the output shaft of the self-rotation steering engine is connected with the self-rotation transmission gear in a coaxial rotating structure; the self-rotation transmission gear is in mesh transmission with the gear turntable; the gear turntable is connected with the top disc in a coaxial rotating structure.
[0015] In one of the embodiments, the rope driving unit includes a rope driving steering engine, a rope driving transmission gear, and a gear wire winding disc; the output shaft of the rope driving steering engine is connected with the rope driving transmission gear in a coaxial rotating structure; the rope driving transmission gear is in mesh transmission with the gear wire winding disc; the gear wire winding disc is wound with a rope for controlling the rope-driven telescopic module to telescope or driving the rope-driven bending module to bend.
[0016] The beneficial effects of the present application are as follows:
[0017] 1. Break the single module limit of multifunction integration: By the combined use of the rope-driven telescopic module and the rope-driven bending module, the flexible arm with composite functions can realize axial telescoping and multi-directional bending motion at the same time, solving the problem of single function of traditional flexible arms.
[0018] 2. Significantly improve the motion performance parameters: The maximum telescoping rate of the rope-driven telescopic module is 58.8%, and the maximum bending angle of the single module of the rope-driven bending module is 60°, and the telescoping and bending performance is good.
[0019] 3. Enhance the multi-degree-of-freedom operation ability: The flexible arm of the present application realizes the rotation function around the axis through the internal integrated rope driving force module, which significantly improves the multi-degree-of-freedom operation ability of the flexible arm and optimizes the space utilization. Compared with traditional flexible arms, the flexible arm of the present application can realize more complex and accurate spatial positioning while maintaining telescoping and bending functions, thus showing higher flexibility and adaptability in task execution.
[0020] 4. Environmental adaptability and reconfigurability: The physical properties of the flexible arm can be dynamically adjusted by increasing or decreasing the number of modules, such as increasing the rope-driven telescopic module to expand the travel range of the flexible arm, and increasing the rope-driven bending module to increase the bending angle. This feature allows the flexible arm to quickly adapt to unstructured environments, while traditional rigid flexible arms need to be redesigned as a whole.
[0021] 5. Impact resistance and target protection ability: The pre-stressed cable-strut structure (rigid link set + spring) absorbs collision energy when contacting non-cooperative targets, reducing peak impact force. Rope-driven joints avoid rigid collision, protecting the target and the flexible arm body.
[0022] Compared with traditional flexible arms, the present application has significant improvements in flexibility, adaptability, maintainability and energy efficiency, and has good technical advantages and application prospects. BRIEF DESCRIPTION OF DRAWINGS
[0023] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.
[0024] Figure 1 is a front view structural schematic diagram of the rope-driven telescopic module provided by the embodiment of the present application;
[0025] Figure 2 is Figure 1 a three-dimensional structural schematic diagram of
[0026] Figure 3 yes Figure 1 A schematic diagram of the contraction state;
[0027] Figure 4 This is a front view structural diagram of the rope-driven bending module provided in an embodiment of the present invention;
[0028] Figure 5 yes Figure 4 A schematic diagram of the three-dimensional structure;
[0029] Figure 6 yes Figure 4 A schematic diagram of the bending state;
[0030] Figure 7 This is a front view structural diagram of the rope driving force module provided in an embodiment of the present invention;
[0031] Figure 8 yes Figure 7 A schematic diagram of the disassembled structure;
[0032] Figure 9 This is a schematic diagram of the telescopic boom segment in its extended state provided in an embodiment of the present invention;
[0033] Figure 10 yes Figure 9 A schematic diagram of the contraction state;
[0034] Figure 11 This is a schematic diagram of the straightened state of the bent arm section provided in an embodiment of the present invention;
[0035] Figure 12 yes Figure 11 A schematic diagram of the bending state;
[0036] Figure 13 This is a schematic diagram of the assembly state of the telescopic boom section and the curved boom section provided in an embodiment of the present invention;
[0037] Figure 14 yes Figure 13 A schematic diagram of the contraction and bending states.
[0038] The attached figures are labeled as follows:
[0039] 100. Rope-driven telescopic module; 110. Telescopic module base; 120. Telescopic module connecting rod assembly; 121. Telescopic module outer rod; 122. Telescopic module inner rod; 123. Telescopic module connecting rod; 124. Telescopic module shaft; 125. Telescopic module rotating joint; 130. Telescopic module reset unit; 131. Telescopic module first spring; 132. Telescopic module second spring;
[0040] 200, rope-driven bending module; 210, bending module base; 220, bending module linkage; 221, bending module outer rod; 222, bending module inner rod; 223, bending module shaft rod; 224, bending module connecting rod; 225, bending module rotary joint; 230, bending module reset unit; 231, bending module spring;
[0041] 300, rope-driven power module; 310, top disc; 320, bottom disc; 330, rotation unit; 331, rotation servo; 332, rotation transmission gear; 333, gear rotating disc; 340, rope-driven unit; 341, rope-driven servo; 342, rope-driven transmission gear; 343, gear winding disc;
[0042] 400, telescopic arm segment;
[0043] 500, bending arm segment. DETAILED DESCRIPTION
[0044] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application.
[0045] The present application provides a modular flexible arm with rope-driven telescopic and bending functions, and an embodiment thereof is shown in the accompanying drawings. Figures 1 to 14 As shown in the accompanying drawings, the flexible arm includes a rope-driven telescopic module 100, a rope-driven bending module 200, and a rope-driven power module 300 in various optional assembly modes; in one of the optional assembly modes, a plurality of the rope-driven telescopic modules 100 are connected to each other in sequence, the rope-driven power module 300 is connected to the rope-driven telescopic module 100 placed at a starting position, and the rope-driven power module 300 is used to drive the plurality of rope-driven telescopic modules 100 to perform synchronous telescopic deformation, so that the rope-driven power module 300 and the plurality of rope-driven telescopic modules 100 form a telescopic arm segment 400; in one of the optional assembly modes, a plurality of the rope-driven bending modules 200 are connected to each other in sequence, the rope-driven power module 300 is connected to the rope-driven bending module 200 placed at a starting position, and the rope-driven power module 300 is used to drive the plurality of rope-driven bending modules 200 to perform synchronous bending deformation, so that the rope-driven power module 300 and the plurality of rope-driven bending modules 200 form a bending arm segment 500; and in one of the optional assembly modes, the telescopic arm segment 400 and the bending arm segment 500 are connected to each other.
[0046] After the above-described arrangement mode is adopted, different assembly modes can be adopted according to different application requirements.
[0047] 1. If only telescopic control is required, a plurality of rope-driven telescopic modules 100 can be assembled to form a telescopic arm segment 400, so that the rope-driven power module 300 is used to control the telescopic arm segment 400 to realize telescopic mode transformation of the telescopic arm segment 400.
[0048] 2、If only bending control is needed, multiple rope-driven bending modules 200 can be assembled into a bending arm segment 500, and the bending arm segment 500 can be controlled by the rope-driven power module 300 to change the bending shape of the bending arm segment 500.
[0049] 3、If both telescopic control and bending control are needed, one rope-driven power module 300 can be used to control the telescopic arm segment 400, and another rope-driven power module 300 can be used to control the bending arm segment 500, and then the two can be combined to make the flexible arm have both telescopic and bending control functions.
[0050] The control mode of the rope-driven telescopic module 100 and the rope-driven bending module 200 of the rope-driven power module 300 is consistent. Taking the control of the rope-driven telescopic module 100 by the rope-driven power module 300 as an example, the rope-driven power module 300 can be connected and fixed with the rope-driven telescopic module 100 by a rope, and the rope-driven power module 300 only needs to control the extension and retraction of the rope to achieve the telescopic control of the rope-driven telescopic module 100. Similarly, the bending control of the rope-driven bending module 200 by the rope-driven power module 300 is also the same.
[0051] As shown in Figures 1 to 3 , this embodiment provides that the rope-driven telescopic module 100 includes a telescopic module base 110, a telescopic module linkage 120 connected between two telescopic module bases 110, and a telescopic module reset unit 130 provided on the telescopic module linkage 120. The telescopic module base 110 is used to be connected with an adjacent telescopic module base 110 or a rope-driven power module 300. The telescopic module linkage 120 is used to control the telescopic movement of the rope-driven telescopic module 100. The telescopic module reset unit 130 is used to reset the telescopic module linkage 120 to the extended state.
[0052] After adopting this arrangement, if the rope-driven power module 300 applies a pulling force to the telescopic module base 110, the two telescopic module bases 110 will move towards each other, and the telescopic module linkage 120 will be correspondingly folded to achieve the telescopic control of the rope-driven telescopic module 100.
[0053] After the rope-driven power module 300 stops applying the pulling force, the telescopic module reset unit 130 will apply a force to the rope-driven telescopic module 100, so that the two telescopic module bases 110 move away from each other, and the telescopic module linkage 120 will be correspondingly stretched to achieve the extension control of the rope-driven telescopic module 100.
[0054] As shown in Figures 1 to 3As shown, in this embodiment, the telescopic module linkage 120 includes an outer telescopic module rod 121, an inner telescopic module rod 122, a connecting rod 123, and a shaft 124. On the first telescopic module base 110 of the rope-driven telescopic module 100, outer telescopic module rods 121 and inner telescopic module rods 122 are rotatably mounted on opposite sides in a staggered arrangement. On the second telescopic module base 110 of the rope-driven telescopic module 100, outer telescopic module rods 121 and inner telescopic module rods 122 are also rotatably mounted on opposite sides in a staggered arrangement. Multiple outer telescopic module rods 121 are respectively located outside multiple adjacent inner telescopic module rods 122. The outer telescopic module rods 121 on the second telescopic module base 110 are connected to the outer telescopic module rods 122 on the first telescopic module base 110. The inner rod 122 is rotatably connected to form a telescopic module rotation joint 125. The telescopic module rotation joint 125 is rotatably connected to a telescopic module connecting rod 123. The telescopic module connecting rod 123 is rotatably connected to the middle of the telescopic module outer rod 121 on the first telescopic module base 110. The inner rod 122 of the telescopic module on the second telescopic module base 110 is rotatably connected to the telescopic module outer rod 121 on the first telescopic module base 110, and similarly forms a telescopic module rotation joint 125. The telescopic module rotation joint 125 here is also rotatably connected to a telescopic module connecting rod 123. The telescopic module connecting rod 123 here is rotatably connected to the middle of the telescopic module outer rod 121 on the second telescopic module base 110. And the telescopic module shaft rod 124 is connected between the telescopic module rotation joints 125 with opposite rotation centers.
[0055] After adopting the above setting method, once the telescopic module linkage 120 is subjected to external force, it can only realize the telescopic shape change, thereby realizing the telescopic shape change control of the telescopic module linkage 120.
[0056] like Figures 1 to 3 As shown, in this embodiment, the telescopic module reset unit 130 includes a first telescopic module spring 131 and a second telescopic module spring 132. The first telescopic module spring 131 is connected between two telescopic module shafts 124. The telescopic module shafts 124 are connected to two second telescopic module springs 132, and the two second telescopic module springs 132 are respectively connected to the two telescopic module bases 110 of the rope-driven telescopic module 100.
[0057] With this setup, the first spring 131 of the telescopic module will apply tension to the two telescopic module shafts 124. So once the external force controlling the compression of the rope-driven telescopic module 100 disappears, the first spring 131 of the telescopic module will pull the two telescopic module shafts 124 to the initial preset position. The multiple second springs 132 of the telescopic module will also assist the rope-driven telescopic module 100, thereby realizing the reset of the rope-driven telescopic module 100.
[0058] As shown in Figures 4 to 6 , this embodiment provides the rope-driven bending module 200, which includes a bending module base 210, a bending module linkage 220 connected between two bending module bases 210, and a bending module reset unit 230 arranged on the bending module linkage 220; the bending module base 210 is used to be connected with an adjacent bending module base 210 or a rope-driven force module 300; the bending module linkage 220 is used to control the bending of the rope-driven bending module 200; and the bending module reset unit 230 is used to control the reset of the bending module linkage 220 to a straight state.
[0059] After the adoption of this arrangement, if the rope-driven force module 300 applies a pulling force to one side of the bending module base 210, the side of the bending module base 210 will be tilted, and the bending module linkage 220 will be folded accordingly, so as to achieve the bending control of the rope-driven bending module 200.
[0060] After the rope-driven force module 300 stops applying the pulling force, the bending module reset unit will apply a force to the rope-driven bending module 200, so as to reset the two bending module bases 210, and the bending module linkage 220 will be reset accordingly, so as to achieve the bending control of the rope-driven bending module 200.
[0061] As shown in Figures 4 to 6 , this embodiment provides the bending module linkage 220, which includes a bending module outer rod 221, a bending module inner rod 222, a bending module shaft 223, and a bending module connecting rod 224; on the first bending module base 210 of the rope-driven bending module 200, the opposite sides thereof are rotatably installed with the bending module outer rods 221 and the bending module inner rods 222 arranged in a staggered manner; on the second bending module base 210 of the rope-driven bending module 200, the opposite sides thereof are also rotatably installed with the bending module outer rods 221 and the bending module inner rods 222 arranged in a staggered manner; a plurality of the bending module outer rods 221 are arranged outside a plurality of adjacent bending module inner rods 222; the bending module outer rods 221 on the second bending module base 210 are rotatably connected with the bending module inner rods 222 on the first bending module base 210 to form bending module rotary joints 225; the bending module inner rods 222 on the second bending module base 210 are rotatably connected with the bending module outer rods 221 on the first bending module base 210 to also form the bending module rotary joints 225; the bending module shafts 223 are connected between the bending module rotary joints 225 opposite to each other in rotation center; and the bending module connecting rods 224 are connected between the bending module rotary joints 225 on the same side of the bending module shafts 223.
[0062] After the above setting mode is adopted, once the bending module linkage set 220 is subjected to external force, the bending module linkage set 220 will be able to bend in two different directions to different degrees, thereby realizing the bending mode change control of the bending module linkage set 220.
[0063] As shown in Figures 4 to 6 , this embodiment provides that the bending module reset unit 230 includes a plurality of bending module springs 231; the bending module shaft 223 is connected with two bending module springs 231, and the two bending module springs 231 are respectively connected with the two bending module bases 210 of the rope-driven bending module 200.
[0064] After this setting mode is adopted, the bending module spring 231 will generate a corresponding push-pull force on the bending module base 210, so that the two bending module bases 210 are reset to the initial position, thereby realizing the reset of the rope-driven bending module 200.
[0065] As shown in Figure 8 and Figure 9 , this embodiment provides that the rope-driven power module 300 includes a top disc 310, a bottom disc 320, and a self-rotation unit 330 and a rope-driven unit 340 arranged between the top disc 310 and the bottom disc 320; the top disc 310 and the bottom disc 320 are both used to be connected with the rope-driven telescopic module or the rope-driven bending module; the self-rotation unit 330 is used to drive the top disc 310 to rotate; and the rope-driven unit 340 is used to drive the rope-driven telescopic module to telescope or drive the rope-driven bending module to bend.
[0066] After this setting mode is adopted, since the top disc 310 can be used to install the rope-driven telescopic module 100 or the rope-driven bending module 200, and the self-rotation unit 330 is used to drive the top disc 310 to rotate, the self-rotation control of the flexible arm can be realized, and the rotation function around the axis is realized, which significantly improves the multi-degree-of-freedom operation ability of the flexible arm and optimizes the space utilization.
[0067] The setting of the rope-driven unit 340 ensures that the rope-driven telescopic module 100 and the rope-driven bending module 200 can be provided with rope driving force to realize corresponding telescopic and bending control.
[0068] As shown in Figure 8 and Figure 9 , this embodiment provides that the self-rotation unit 330 includes a self-rotation steering engine 331, a self-rotation transmission gear 332, and a gear turntable 333; the output shaft of the self-rotation steering engine 331 is connected with the self-rotation transmission gear 332 in a coaxial rotating structure; the self-rotation transmission gear 332 is in meshing transmission with the gear turntable 333; and the gear turntable 333 is connected with the top disc 310 in a coaxial rotating structure.
[0069] After the setting mode is adopted, the rotation of the rotation steering engine 331 can drive the rotation of the rotation transmission gear 332, the rotation of the rotation transmission gear 332 can drive the rotation of the gear rotation disc 333, and the rotation of the gear rotation disc 333 can drive the rotation of the top disc 310, thereby realizing the rotation control of the rope-driven telescopic module 100 or the rope-driven bending module 200.
[0070] As shown in Figure 8 and Figure 9 , this embodiment sets the rope-driven unit 340 to include a rope-driven steering engine 341, a rope-driven transmission gear 342, and a gear winding disc 343; the output shaft of the rope-driven steering engine 341 is connected to the rope-driven transmission gear 342 in a coaxial rotation structure; the rope-driven transmission gear 342 is in meshing transmission with the gear winding disc 343; and the gear winding disc 343 is wound with a rope for controlling the rope-driven telescopic module to stretch or the rope-driven bending module to drive.
[0071] After the setting mode is adopted, the rotation of the rope-driven steering engine 341 can drive the rotation of the rope-driven transmission gear 342, the rotation of the rope-driven transmission gear 342 can drive the rotation of the gear winding disc 343, and the rotation of the gear winding disc 343 can realize the winding and unwinding control of the rope, thereby realizing the rope-driven control of the rope-driven telescopic module 100 or the rope-driven bending module 200.
[0072] The above is the preferred embodiment of the present application, and it should be noted that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements are also considered to be within the scope of protection of the present application.
Claims
1. A flexible arm with modular rope-driven telescopic and bending functions, characterized in that, a plurality of rope-driven telescopic modules, a plurality of rope-driven bending modules, and a plurality of rope-driven power modules are provided; in one of the optional assembly modes, a plurality of the rope-driven telescopic modules are connected in sequence, the rope-driven power module is connected to the rope-driven telescopic module at the starting position, and the rope-driven power module is used to drive the plurality of rope-driven telescopic modules to perform synchronous telescopic deformation, at this time the rope-driven power module and the plurality of rope-driven telescopic modules form a telescopic arm segment; in one of the optional assembly modes, a plurality of the rope-driven bending modules are connected in sequence, the rope-driven power module is connected to the rope-driven bending module at the starting position, and the rope-driven power module is used to drive the plurality of rope-driven bending modules to perform synchronous bending deformation, at this time the rope-driven power module and the plurality of rope-driven bending modules form a bending arm segment; in one of the optional assembly modes, the telescopic arm segment and the bending arm segment are connected to each other. 2.The flexible arm according to claim 1, characterized in that, the rope-driven telescopic module comprises a telescopic module base, a telescopic module linkage connected between two telescopic module bases, and a telescopic module reset unit provided on the telescopic module linkage; the telescopic module base is used to be connected to an adjacent telescopic module base or the rope-driven power module; the telescopic module linkage is used to control the rope-driven telescopic module to perform telescopic deformation; the telescopic module reset unit is used to control the telescopic module linkage to reset to an extended state. 3.The flexible arm according to claim 2, characterized in that, the telescopic module linkage comprises a telescopic module outer rod, a telescopic module inner rod, a telescopic module connecting rod, and a telescopic module shaft; on the first telescopic module base of the rope-driven telescopic module, two opposite sides thereof are rotatably provided with the telescopic module outer rod and the telescopic module inner rod arranged in a staggered manner; on the second telescopic module base of the rope-driven telescopic module, two opposite sides thereof are also rotatably provided with the telescopic module outer rod and the telescopic module inner rod arranged in a staggered manner; a plurality of the telescopic module outer rods are respectively provided outside a plurality of adjacent telescopic module inner rods; the telescopic module outer rod on the second telescopic module base is rotatably connected with the telescopic module inner rod on the first telescopic module base to form a telescopic module rotary joint, the telescopic module connecting rod is rotatably connected to the telescopic module rotary joint, and the telescopic module connecting rod is rotatably connected to the middle part of the telescopic module outer rod on the first telescopic module base; the telescopic module inner rod on the second telescopic module base is rotatably connected with the telescopic module outer rod on the first telescopic module base to also form the telescopic module rotary joint, the telescopic module connecting rod is also rotatably connected to the telescopic module rotary joint, and the telescopic module connecting rod is rotatably connected to the middle part of the telescopic module outer rod on the second telescopic module base. And the rotation center opposite the telescopic module rotation joint between the connection of the telescopic module shaft rod. 4.The flexible arm of claim 3, wherein, The telescopic module reset unit comprises a telescopic module first spring and a telescopic module second spring. The telescopic module first spring is connected between the two telescopic module shaft rods. The telescopic module shaft rod is connected with two telescopic module second springs, and the two telescopic module second springs are respectively connected with the two telescopic module bases of the rope-driven telescopic module. 5.The flexible arm of claim 1, wherein, The rope-driven bending module comprises a bending module base, a bending module linkage connected between the two bending module bases, and a bending module reset unit arranged on the bending module linkage. The bending module base is used to be connected with the adjacent bending module base or the rope-driven driving force module. The rotation bending of the bending module linkage is used to control the bending of the rope-driven bending module. The bending module reset unit is used to control the bending module linkage to reset to the straight state. 6.The flexible arm of claim 5, wherein, The bending module linkage comprises a bending module outer rod, a bending module inner rod, a bending module shaft rod, and a bending module connecting rod. On the first bending module base of the rope-driven bending module, the opposite sides thereof are rotatably installed with the bending module outer rods and the bending module inner rods arranged in a staggered manner. On the second bending module base of the rope-driven bending module, the opposite sides thereof are also rotatably installed with the bending module outer rods and the bending module inner rods arranged in a staggered manner. A plurality of the bending module outer rods are arranged outside a plurality of adjacent bending module inner rods. The bending module outer rods on the second bending module base are rotatably connected with the bending module inner rods on the first bending module base to form a bending module rotation joint. The bending module inner rods on the second bending module base are also rotatably connected with the bending module outer rods on the first bending module base to also form the bending module rotation joint. The bending module shaft rod is connected between the rotation centers of the bending module rotation joints opposite to each other. The bending module connecting rod is connected between the bending module rotation joints on the same side of the two bending module shaft rods. 7.The flexible arm of claim 6, wherein, The bending module reset unit comprises a plurality of bending module springs. The bending module shaft rod is connected with two bending module springs, and the two bending module springs are respectively connected with the two bending module bases of the rope-driven bending module. 8.The flexible arm of claim 1, wherein, The rope-driven driving force module comprises a top disc, a bottom disc, and a rotation unit and a rope-driven unit arranged between the top disc and the bottom disc. The top disc and the bottom disc are used to be connected with the rope-driven telescopic module or the rope-driven bending module. The rotation unit is used to drive the top disc to rotate. The rope driving unit is used to drive the rope driving telescopic module to telescope or drive the rope driving bending module to bend.
9. The flexible arm of claim 8, wherein, The self-rotation unit comprises a self-rotation steering engine, a self-rotation transmission gear, and a gear turntable; The output shaft of the self-rotation steering engine is connected with the self-rotation transmission gear in a coaxial rotation structure; The self-rotation transmission gear is in meshing transmission with the gear turntable; The gear turntable is connected with the top disc in a coaxial rotation structure.
10. The flexible arm of claim 8, wherein, The rope driving unit comprises a rope driving steering engine, a rope driving transmission gear, and a gear winding disc; The output shaft of the rope driving steering engine is connected with the rope driving transmission gear in a coaxial rotation structure; The rope driving transmission gear is in meshing transmission with the gear winding disc; The gear winding disc is wound with a rope for controlling the rope driving telescopic module to telescope or driving the rope driving bending module to bend.