Parallel flexible cable robot rope driving device fused with planetary gear

Abstract

The invention discloses a parallel flexible cable robot rope driving device fused with planetary gears, and relates to the technical field of robots. The problem of rope length detection deviation is solved, and the driving capacity of the system under the working conditions of low-speed operation and high load is enhanced. The device comprises a base, a planetary gear driving module and a rope outlet module. The planetary gear driving module comprises a driving motor, a planetary gear train and a lead screw set. The front end of the lead screw group is connected to the base through a front support, and the rear end is connected with the guide optical axis through a connecting plate; the guide optical axis is connected to the base through a rear support; the rope outlet module is connected to the guiding optical shaft in a sliding mode and fixedly connected with the planetary gear train. The planetary gear train is connected to the lead screw set. The driving motor is arranged on the planetary gear train and can drive the rope outlet module through the planetary gear train to achieve rotation and linear composite motion at the same time, and therefore the rope length change deviation of a transition area between spiral groove rings in the rope outlet module is compensated.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a rope drive device for a parallel flexible cable robot that incorporates planetary gears. Background Technology

[0002] Parallel flexible cable robots use flexible cables instead of traditional rigid links, offering advantages such as a large workspace, high movement speed, and strong load-bearing capacity. However, the traditional cable-driven method, where the motor directly drives the drum, suffers from significant measurement errors in the actual extended length of the cable due to factors such as cable slippage, elastic deformation, or changes in drum diameter, affecting end-effector positioning accuracy.

[0003] Chinese patent CN109176493A, entitled "A Rope Drive Device and a Rope Driven Parallel Robot," discloses a rope drive device in which a drive motor is connected to a synchronous pulley and rotates a lead screw and a rope drum synchronously. A guide slider connected to the screw thread moves synchronously with the rope drum, reducing the accumulated error at the rope exit end. However, the inherent backlash in the meshing of the synchronous belt and pulley causes angular lag during power transmission, directly affecting the strict synchronization between the winch and the lead screw. Furthermore, the belt may experience elastic stretching under stress, leading to a displacement difference between the winch and the lead screw, resulting in deviations in the rope winding position.

[0004] In addition, under high-load conditions, the size and weight of the drive unit (high-power motor) of the existing parallel flexible cable robot are significantly increased in order to overcome the required load torque, resulting in a bulky system structure and excessive space occupation, which seriously restricts the compact design and integration convenience of the equipment. Summary of the Invention

[0005] The embodiments of this application provide a parallel flexible cable robot rope drive device that integrates planetary gears. This not only avoids the rope length detection deviation caused by the transition between coils in the traditional motor direct drive rope roller method, thus improving the positioning accuracy of the end effector, but also enhances the driving capability of the system under low-speed operation and high-load conditions, and improves the compactness and integration convenience of the device.

[0006] To achieve the above objectives, embodiments of this application provide a parallel flexible cable robot rope drive device integrating planetary gears, including a base and a planetary gear drive module and a rope output module disposed on the base; the planetary gear drive module includes a drive motor, a planetary gear system, and a lead screw assembly; the front end of the lead screw assembly is connected to the base via a front support, and the rear end is connected to a guide optical shaft via a connecting plate; the guide optical shaft is connected to the base via a rear support; the rope output module is slidably connected to the guide optical shaft and fixedly connected to the planetary gear system; the planetary gear system is connected to the lead screw assembly; the drive motor is disposed on the planetary gear system, and the drive motor can drive the rope output module to simultaneously achieve rotational and linear compound motion through the planetary gear system, thereby compensating for the rope length variation deviation in the transition area between the helical grooves in the rope output module.

[0007] Furthermore, the planetary gear system includes a front planetary carrier, planetary gears, and a rear planetary carrier connected sequentially from front to back; the planetary gears include a sun gear, an external gear ring, and multiple planetary gears; both the front and rear planetary carriers are slidably connected to the lead screw assembly; a drive motor is connected to the front planetary carrier, and the drive motor is connected to the sun gear through the sun gear input shaft; the front and rear planetary carriers are rotatably connected to the two ends of the sun gear input shaft, respectively; the external gear ring is pressed between the front and rear planetary carriers and is rotatably connected to both; the external gear ring is connected to the rope output module; each planetary gear has a planetary gear axial drive nut; multiple lead screws in the lead screw assembly are connected one-to-one with the planetary gear axial drive nuts in the multiple planetary gears.

[0008] Furthermore, the front planetary carrier includes a mounting plate and a mounting base connected by multiple connecting rods; a first circular protrusion is provided on the rear surface of the mounting base; a second circular protrusion and multiple third circular protrusions are provided on the rear surface of the first circular protrusion; a first mounting hole for the sun gear input shaft to pass through is provided on the second circular protrusion; multiple second mounting holes for the lead screw to pass through are provided on the third circular protrusion, and the multiple second mounting holes respectively penetrate the first circular protrusion and the corresponding third circular protrusion; the drive motor is mounted on the mounting plate and connected to the sun gear input shaft through a rigid coupling.

[0009] Furthermore, a fourth circular protrusion is provided on the front surface of the rear planetary carrier; a fifth circular protrusion is provided on the front surface of the fourth circular protrusion; a fourth mounting hole for the sun gear input shaft to pass through is provided on the fifth circular protrusion; a plurality of fifth mounting holes for the lead screw to pass through are provided on the fourth circular protrusion; the mounting base and the external gear ring are rotatably connected by a first external gear ring bearing; the inner ring of the first external gear ring bearing is fixedly connected to the outer circular surface of the first circular protrusion of the mounting base, and the outer ring is pressed against the front surface of the external gear ring; The rear planetary carrier and the outer gear ring are rotatably connected by a second outer gear ring bearing; the inner ring of the second outer gear ring bearing is fixedly connected to the outer circular surface of the fourth circular protrusion of the rear planetary carrier, and the outer ring is pressed against the rear surface of the outer gear ring; the rear planetary carrier and the mounting base of the front planetary carrier are connected by fastening bolts.

[0010] Furthermore, the planetary gear axial drive nut is fixedly connected to the inner hole of the planetary gear; the third circular protrusion of the mounting base is rotatably connected to the planetary gear through a first planetary gear bearing; the inner ring of the first planetary gear bearing is fixedly connected to the outer circular surface of the third circular protrusion of the mounting base, and the outer ring abuts against the front end face of the planetary gear axial drive nut; the fifth mounting hole of the planetary carrier is rotatably connected to the planetary gear through a second planetary gear bearing; a portion of the outer ring of the second planetary gear bearing is fixedly connected to the fifth mounting hole of the rear planetary carrier, and the inner ring abuts against the rear end face of the planetary gear axial drive nut.

[0011] Furthermore, the lead screw assembly includes three lead screws equidistantly distributed along the circumference; the number of planetary gears is also three.

[0012] Furthermore, the rope delivery module includes a spiral groove rope drive roller, a fixed bracket, a rope delivery pulley, and a drive rope; the spiral groove rope drive roller is slidably sleeved on the guide shaft and connected to the outer gear ring through multiple fixed shafts; the fixed bracket has an inverted "U" shaped structure; the lower end of the fixed bracket is connected to the base, the rope delivery pulley is located above the spiral groove rope drive roller and is connected to the lower surface of the upper crossbeam through a pulley bracket; one end of the drive rope is wound and fixed on the spiral groove rope drive roller, and the other end is deflected through the rope delivery pulley.

[0013] Furthermore, there are three fixed shafts; the three fixed shafts are equidistantly distributed along the circumference; the front end of the fixed shaft is connected to the external gear ring, and the rear end passes through the front baffle of the spiral groove rope drive drum and is connected to the first front baffle and the second front baffle of the spiral groove rope drive drum.

[0014] Furthermore, it also includes a rope status detection module located behind the rope exit module; after the driven rope passes around the exit pulley, it enters the rope status detection module; the rope status detection module can realize real-time detection of rope length and tension.

[0015] Furthermore, the rope state detection module includes a sensor mounting base and a first guide wheel assembly, a rope length measuring assembly, a tension measuring assembly, and multiple second guide wheel assemblies mounted on the sensor mounting base. The first guide wheel assembly is located diagonally above the rope length measuring assembly; the second guide wheel assembly is located diagonally below the rope length measuring assembly or the tension measuring assembly. Both the first and second guide wheel assemblies can change the extension direction of the driving rope. The rope length measuring assembly includes a rope length measuring wheel, a rope length measuring shaft, a rope length measuring wheel bracket, a rope length measuring shaft coupling, and a rotary encoder. The two ends of the rope length measuring shaft are respectively supported on the sensor mounting base and the rope length measuring wheel bracket. The rear end of the rope length measuring shaft is connected to the rotary encoder via the rope length measuring shaft coupling. The rope length measuring wheel is mounted on the rope length measuring shaft. The tension measuring assembly is located to the side of the rope length measuring assembly. The tension measuring assembly includes a tension measuring wheel, a tension measuring shaft, a tension measuring wheel bracket, and a tension sensor. The upper end of the tension sensor is connected to the top of the sensor mounting base, and the lower end is connected to the tension measuring wheel bracket. The two ends of the tension measuring shaft are mounted on the tension measuring wheel bracket, and the tension measuring wheel is mounted on the tension measuring shaft.

[0016] This application has the following advantages over the prior art: 1. The parallel flexible cable robot rope drive device integrating planetary gears in this application adopts a planetary gear-screw composite transmission mechanism. The planetary gear drives the screw, and the planetary gear drives the nut axially to drive the spiral groove rope drive drum to move axially. At the same time, the spiral groove rope drive drum rotates synchronously with the sun gear, realizing the synchronous movement of rope winding and unwinding and rope laying. The multi-tooth meshing characteristics of the planetary gear can suppress transmission backlash and reduce transmission errors during the movement process.

[0017] 2. The parallel flexible cable robot rope drive device integrating planetary gears in this application embodiment uses planetary gear train-screw composite transmission to convert the rotational motion of the inner ring of the planetary gear into a quantitative axial displacement of the spiral groove rope drive drum. This displacement strictly matches the geometric characteristics of the transition between the spiral groove drums, and in real time offsets the rope length variation error caused by the geometric discontinuity in the transition area between the rings. Thus, it can actively eliminate systematic rope length deviation and improve the positioning accuracy of the end effector.

[0018] 3. The parallel flexible cable robot rope drive device integrating planetary gears in this application embodiment is based on the inherent speed reduction and torque amplification characteristics of planetary gear systems. The transmission mechanism can amplify the output torque while maintaining a compact size. Its transmission ratio design enables the system to achieve high torque output under low-speed conditions. It can reduce the power requirements of the motor, and the size and mass of the drive unit are reduced compared with traditional solutions, thus improving the overall power density.

[0019] 4. The parallel flexible cable robot rope drive device integrating planetary gears in this application adopts a multi-sensor collaborative approach. It prevents loosening by using a constant wrap angle of the guide rope pulley group, while detecting the rope extension length through an external encoder detection wheel and acquiring rope tension information by embedding a tension sensor at the rope outlet end, thereby realizing the monitoring of key information such as rope tension and displacement. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural diagram of the rope drive device for a parallel flexible cable robot that integrates planetary gears, according to an embodiment of this application, from one angle.

[0022] Figure 2 This is a three-dimensional structural diagram of the parallel flexible cable robot rope drive device integrating planetary gears, as shown in another embodiment of this application (with the rope status detection module removed).

[0023] Figure 3 This is a side view of the planetary gear drive module in the parallel flexible cable robot rope drive device that integrates planetary gears, as described in an embodiment of this application.

[0024] Figure 4 This is a schematic diagram of the connection structure between the front planetary carrier and the first external gear ring bearing and the first planetary gear bearing in the rope drive device of the parallel flexible cable robot that integrates planetary gears according to an embodiment of this application.

[0025] Figure 5 This is an exploded structural diagram of the planetary gear drive module in the parallel flexible cable robot rope drive device that integrates planetary gears, as described in an embodiment of this application.

[0026] Figure 6 This is a three-dimensional structural diagram of the planetary gear in the parallel flexible cable robot rope drive device that integrates planetary gears according to an embodiment of this application.

[0027] Figure 7 This is a three-dimensional structural diagram of the sun gear input shaft in the parallel flexible cable robot rope drive device that integrates planetary gears, as described in an embodiment of this application.

[0028] Figure 8 This is a three-dimensional structural diagram of the rope output module in the rope drive device of the parallel flexible cable robot that integrates planetary gears, as described in an embodiment of this application.

[0029] Figure 9This is a three-dimensional structural diagram of the spiral groove rope drive roller in the parallel flexible cable robot rope drive device that integrates planetary gears according to an embodiment of this application.

[0030] Figure 10 This is a three-dimensional structural diagram of the rope state detection module in the rope drive device of the parallel flexible rope robot with planetary gears integrated in the embodiments of this application, taken from one angle.

[0031] Figure 11 This is a three-dimensional structural diagram of the rope state detection module in the rope drive device of the parallel flexible rope robot with planetary gears integrated in the embodiments of this application, from another angle.

[0032] Figure 12 This is a schematic diagram showing the direction of the drive rope in the parallel flexible cable robot rope drive device that integrates planetary gears according to an embodiment of this application.

[0033] Figure 13 This is a schematic diagram of the screw fixing nut in the rope drive device of the parallel flexible cable robot that integrates planetary gears, as described in this application embodiment. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0036] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, they can refer to fixed connections, detachable connections, or integral connections; those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" can explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0038] Reference Figures 1 to 13 The present application embodiment integrates a parallel flexible cable robot rope drive device with planetary gears, including a base 1 and a planetary gear drive module 2, a rope output module 3 and a rope status detection module 4 disposed on the base 1.

[0039] The planetary gear drive module 2 includes a drive motor 21, a planetary gear system 22, and a lead screw assembly 23.

[0040] The lead screw assembly 23 includes three lead screws 231 equidistantly distributed along the circumference. The front ends of the lead screws 231 are connected to the base 1 via a front support 24, and the rear ends are connected to the guide shaft 26 via a connecting plate 25. The guide shaft 26 is connected to the base 1 via a rear support 27. (Refer to...) Figure 3 and Figure 13 The front and rear ends of the lead screw 231 are both limited by the lead screw fixing nut 232, and the lead screw fixing nut 232 is connected to the front support 24 or the connecting plate 25 by the lead screw limiting bolt 233.

[0041] Reference Figures 1 to 7 The planetary gear train 22 includes a front planet carrier 221, planetary gears 222 and a rear planet carrier 223 connected in sequence from front to back.

[0042] The front planetary carrier 221 includes a mounting plate 2211 and a mounting base 2212. The mounting plate 2211 and the mounting base 2212 are connected by three connecting rods 2213.

[0043] The housing of the drive motor 21 is threaded onto the mounting plate 2211. The output shaft of the drive motor 21 is connected to the sun gear input shaft 28 via a rigid coupling 219. The two ends of the sun gear input shaft 28 are respectively mounted on the mounting base 2212 and the rear planetary carrier 223. The sun gear input shaft 28 and the rigid coupling 219 are connected by an end key 2110 to prevent slippage of the output shaft of the drive motor 21.

[0044] The rear surface of the mounting base 2212 is provided with a first circular protrusion 2214, and the rear surface of the first circular protrusion 2214 is provided with a second circular protrusion 2215 and three third circular protrusions 2216. The second circular protrusion 2215 is provided with a first mounting hole for the sun gear input shaft 28 to pass through, and the third circular protrusion 2216 is provided with three second mounting holes for the lead screw 231 to pass through, and the three second mounting holes respectively penetrate the first circular protrusion 2214 and the corresponding third circular protrusion 2216.

[0045] The rear planetary carrier 223 has a fourth circular protrusion 2231 on its front surface, and a fifth circular protrusion on its front surface. The fifth circular protrusion has a fourth mounting hole 2232 for the sun gear input shaft 28 to pass through, and the fourth circular protrusion 2231 has multiple fifth mounting holes 2233 for the lead screw 231 to pass through. The rear planetary carrier 223 and the mounting base 2212 of the front planetary carrier 221 are connected by fastening bolts 224.

[0046] The two ends of the sun gear input shaft 28 are rotatably connected to the front planetary carrier 221 and the rear planetary carrier 223 respectively through the input shaft support bearing 29, and the input shaft support bearing 29 provides radial support for the sun gear input shaft 28.

[0047] The planetary gear 222 includes a sun gear 2221, an external gear ring 2222, and three planet gears 2223. The sun gear 2221 is in the center and simultaneously meshes with the three planet gears 2223, which are evenly distributed with a phase angle of 120°, through involute teeth. The inner ring of the external gear ring 2222 meshes with the planet gears 2223.

[0048] The sun gear 2221 is fitted onto the middle of the sun gear input shaft 28, and the two are circumferentially constrained by a central flat key 211, forming a slip-free torque transmission path. The sun gear input shaft 28 is provided with a sun gear positioning sleeve 212, the two ends of which abut against the end face of the sun gear 2221 and the front planetary carrier 221, respectively, to achieve axial positioning of the sun gear.

[0049] The external gear ring 2222 is rotatably connected to the mounting base 2212 via a first external gear ring bearing 213. The inner ring of the first external gear ring bearing 213 is fixedly connected to the outer surface of the first circular protrusion 2214 of the mounting base 2212, and the outer ring is pressed against the front surface of the external gear ring 2222. Thus, the first external gear ring bearing 213 can radially constrain the external gear ring 2222 and limit its axial displacement.

[0050] The external gear ring 2222 is rotatably connected to the rear planetary carrier 223 via a second external gear ring bearing 214. The inner ring of the second external gear ring bearing 214 is fixedly connected to the outer circular surface of the first circular protrusion 2214 of the rear planetary carrier 223, and the outer ring is pressed against the rear surface of the external gear ring 2222. Thus, the external gear ring 2222 is pressed between the front planetary carrier 221 and the rear planetary carrier 223, and is rotatably connected to both.

[0051] Each of the three planetary gears 2223 is equipped with a planetary gear axial drive nut 215, and the three lead screws 231 are connected one-to-one with the planetary gear axial drive nuts 215 in the three planetary gears 2223.

[0052] The planetary gear axial drive nut 215 is fixedly connected to the inner hole of the planetary gear 2223. The planetary gear 2223 is rotatably connected to the third circular protrusion 2216 of the mounting base 2212 via the first planetary gear bearing 216. The inner ring of the first planetary gear bearing 216 is fixedly connected to the outer circular surface of the third circular protrusion 2216 of the mounting base 2212, and the outer ring abuts against the front end face of the planetary gear axial drive nut 215. That is, the inner ring of the first planetary gear bearing 216 is fixed, while the outer ring remains rotating.

[0053] The fifth mounting hole 2234 of the rear planetary carrier 223 is rotatably connected to the planetary gear 2223 via the second planetary gear bearing 217. Two-thirds of the outer ring of the second planetary gear bearing 217 is fixed to the fifth mounting hole 2234 of the rear planetary carrier 223, and the inner ring abuts against the rear end face of the planetary gear axial drive nut 215 to reduce rotational friction.

[0054] Thus, each planetary gear 2223 can only rotate on its own axis and not revolve around the sun, achieving motion decoupling. Simultaneously, the rotational motion of the three lead screws 231 is converted into axial displacement through the first planetary gear bearing 216 and the second planetary gear bearing 217.

[0055] The rotational motion of the sun gear 2221 is transmitted to the external gear ring 2222 through the planet gear 2223. The end face of the external gear ring 2222 has evenly distributed threaded holes and is connected to the rope output module 3 through set screws.

[0056] The motion chain of planetary gear drive module 2 is transmitted along the following path: The output torque of the drive motor 21 is transmitted to the sun gear input shaft 28 via a rigid coupling 219, driving the sun gear 2221 to rotate via a key 211. The sun gear 2221 meshes with and drives three sets of evenly distributed planet gears 2223. The planet gear axial drive nut 215 within the planet gears 2223 and the lead screw 231 form a lead screw-planet gear axial drive nut pair. The revolution motion of the planet gears 2223 is constrained by the planet carrier, while their rotational motion is converted into axial thrust through the lead screw and the planet gear axial drive nut pair. This thrust drives the entire planetary gear system 22 and the fixed helical groove rope drive roller 31 to translate along the axis of the lead screw 231. Simultaneously, the external gear ring 2222 indirectly drives the helical groove rope drive roller 31 to rotate, ultimately achieving a composite output of rotational and linear motion.

[0057] Reference Figure 8 and Figure 9 The rope delivery module 3 includes a spiral groove rope drive roller 31, a fixed bracket 32, a rope delivery pulley 33, a pulley bracket 34, a drive rope 35, and three fixed shafts 36.

[0058] Three fixed shafts 36 are equidistantly distributed in the circumferential direction. The front end of the fixed shaft 36 is connected to the external gear ring 223, and the rear end passes through the first front baffle 311 of the spiral groove rope drive roller 31 and is connected to the second baffle 312 of the spiral groove rope drive roller 31.

[0059] Linear bearings 218 are press-fitted at both ends of the central through hole of the spiral grooved rope drive roller 31, forming a sliding pair with the guide shaft 26 that passes through the rear support 27 and the connecting plate 25, thus constraining the spiral grooved rope drive roller 31 to move only along the axial degree of freedom. Both ends of the fixed shaft 36 and the guide shaft 26 are connected with bolts and nuts.

[0060] The fixed bracket 32 ​​has an inverted "U" shape. The lower open end of the fixed bracket 32 ​​is connected to the side of the base 1. The pulley bracket 34 is connected to the lower surface of the upper crossbeam of the fixed bracket 32. The rope delivery pulley 33 is connected to the pulley bracket 34 and is located above the spiral groove rope drive drum 31. Limiting bushings are provided on both sides of the rope delivery pulley 33 to achieve axial double hard stops and ensure the stability of the tangential rope delivery trajectory.

[0061] One end of the drive rope 35 is wound and fixed on the spiral groove rope drive drum 31, and the other end enters the rope status detection module 4 after being turned by the rope exit pulley 33. After the drive rope 35 passes around the exit rope pulley 33, it enters the rope status detection module 4; the rope status detection module 4 can realize real-time detection of rope length and tension.

[0062] In summary, the external gear ring 2222 is rigidly connected to the spiral grooved rope drive roller 31 via the fixed shaft 36, thereby realizing the main rotational motion of the spiral grooved rope drive roller 31. Simultaneously, a planetary gear axial drive nut 215 is integrated and installed within the central hole of the planetary gear 2223. The rotation of the planetary gear 2223 drives the lead screw and planetary gear axial drive nut pair, which in turn drives the entire planetary gear system 22 and the spiral grooved rope drive roller 31 rigidly connected to it to move axially, achieving a compound motion.

[0063] Linear bearing 218 provides high-precision axial guidance, reducing combined motion resistance. The helical grooved rope drive roller 31 works in conjunction with its fixed output pulley 33. The drive rope 35 released by the rotational motion of the helical grooved rope drive roller 31 is redirected by the output pulley 33 and enters the rope status detection module 4. As mentioned earlier, the planetary gear drive 2 not only realizes the rotational motion of the helical grooved rope drive roller 31 but also drives it to move axially. This axial motion dynamically adjusts the output point position of the helical grooved rope drive roller 31, maintaining radial alignment with the input point of the output pulley 33, reducing length measurement errors caused by rope misalignment.

[0064] Reference Figure 10 and Figure 11 The rope condition detection module 4 includes a sensor mounting base plate 41 and a first guide wheel assembly 42, a rope length measuring assembly 43, a tension measuring assembly 44 and three second guide wheel assemblies 45 disposed on the sensor mounting base plate 41.

[0065] The sensor mounting base plate 41 includes a vertical plate 411, a top plate 412, a middle plate 413, and a bottom plate 414. The bottom plate 414 is rigidly fixed to the base 1 through through holes. Meanwhile, the middle plate 413, the bottom plate 414, and the vertical plate 411 are provided with guide pulley brackets and rope length measuring wheel bracket mounting holes. The middle plate 413 and the vertical plate 411 are provided with guide pulley bracket positioning holes and rope length measuring wheel bracket positioning holes.

[0066] The first guide wheel assembly 42 includes a first guide wheel 421, a first guide wheel shaft 422, and a first guide wheel bracket 423. The first guide wheel bracket 423 is connected to the front end face of the upright plate 411, and the first guide wheel 421 is connected to the first guide wheel bracket 423 through the first guide wheel shaft 422.

[0067] The rope length measuring assembly 43 is located diagonally below the first guide wheel 421. The rope length measuring assembly 43 includes a rope length measuring wheel 431, a rope length measuring shaft 432, a rope length measuring wheel bracket 433, a rope length measuring shaft coupling 434, a rotary encoder 435, a rope length measuring bearing 436, and an encoder bracket 437.

[0068] The rope length measuring wheel bracket 433 is connected to the upper surface of the intermediate plate 413. Both ends of the rope length measuring shaft 432 are supported on the sensor mounting base plate 41 and the rope length measuring wheel bracket 433 respectively via rope length measuring bearings 436. The rear end of the rope length measuring shaft 432 is connected to a rotary encoder 435 via a rope length measuring shaft coupling 436. The rotary encoder 435 is connected to the upright plate 411 via an encoder bracket 437. The rope length measuring wheel 431 is sleeved on the rope length measuring shaft 432.

[0069] The tension measuring component 44 is located to the side of the rope length measuring component 43. The tension measuring component 44 includes a tension measuring wheel 441, a tension measuring shaft 442, a tension measuring wheel bracket 443, and a tension sensor 444.

[0070] The upper end of the tension sensor 444 is connected to the lower surface of the top plate 412, and the lower end is connected to the tension measuring wheel bracket 443. Both ends of the tension measuring shaft 442 are mounted on the tension measuring wheel bracket 443, and the tension measuring wheel 441 is fitted onto the tension measuring shaft 442. Limiting bushings are also configured on both sides of the tension measuring shaft 442 to constrain axial freedom, forming a closed-loop measurement chain.

[0071] There are three sets of second guide wheel assemblies 45. Each second guide wheel assembly 45 includes a second guide wheel 451, a second guide wheel shaft 452, and a second guide wheel bracket 453. The second guide wheel bracket 453 is connected to the upper surface of the intermediate plate 413, and the second guide wheel 451 is connected to the second guide wheel bracket 453 via the first guide wheel shaft 452. Limiting bushings 454 are arranged on both sides of the second guide wheel 451 to achieve axial double hard stops, ensuring stable rope exit trajectory.

[0072] Reference Figure 12 The drive rope 35, extended from the spiral grooved rope drive roller 31, first passes over the first guide wheel 421 from top to bottom, then passes over the first second guide wheel 451 from bottom to top, then passes over the rope length measuring wheel 431 from top to bottom, then passes over the second first guide wheel 451 from bottom to top, then passes over the tension measuring wheel 441 from top to bottom, and finally passes over the third first guide wheel 451 from bottom to top. Thus, the first guide wheel assembly 42 and the three second guide wheel assemblies 45 can change the extension direction of the drive rope 35, thereby enabling simultaneous detection of rope length and rope tension within a relatively small space.

[0073] The drive rope 35 is tangentially turned into the rope status detection module 3 via the rope exit pulley 33. First, it achieves a 90° path turn through the first guide wheel 421. Then, the first and second guide wheels 451 guide the drive rope 35 into the V-groove of the rope length measuring wheel 431. Its rotational torque is transmitted to the rotary encoder 435 without gap through the rope length measuring shaft 432 supported by the rope length measuring bearing 436 and the rope length measuring shaft coupling 436, so as to calculate the rope length change in real time.

[0074] The drive rope 35, after exiting the pulley 33, passes through the third first guide pulley 451 and enters the tension measuring wheel 441. Both tangents of the drive rope 35 and the tension measuring wheel 441 are along the standard direction measured by the tension sensor 444. The force on the tension measuring wheel 441 is applied to the tension sensor 444 through the rigid tension measuring wheel bracket 443, thus measuring the rope tension. Simultaneously, a constant wrap angle of the guide pulley system prevents the rope from slipping, keeping the rope taut.

[0075] Therefore, the embodiments of this application can integrate the detection of key rope information such as length and tension at the rope exit end, which not only improves the measurement accuracy, but also avoids structural redundancy caused by the dispersed layout of sensors, thereby optimizing the system compactness and dynamic response performance.

[0076] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A parallel flexible cable robot cable drive device integrating planetary gears, characterized in that, It includes a base and a planetary gear drive module and a rope output module mounted on the base; the planetary gear drive module includes a drive motor, a planetary gear train and a lead screw assembly; the front end of the lead screw assembly is connected to the base via a front support, and the rear end is connected to the guide optical shaft via a connecting plate. The guide optical shaft is connected to the base via the rear support; the rope output module is slidably connected to the guide optical shaft and fixedly connected to the planetary gear system; the planetary gear system is connected to the lead screw assembly; the drive motor is mounted on the planetary gear system, and the drive motor can drive the rope output module to simultaneously achieve rotational and linear compound motion through the planetary gear system, thereby compensating for the rope length variation deviation in the transition area between the spiral grooves in the rope output module.

2. The parallel flexible cable robot cable drive device with integrated planetary gears according to claim 1, characterized in that, The planetary gear system includes a front planet carrier, planetary gears, and a rear planet carrier connected in sequence from front to back. The planetary gear includes a sun gear, an external gear ring, and multiple planet gears; the front and rear planet carriers are slidably connected to the lead screw assembly; the drive motor is connected to the front planet carrier and is connected to the sun gear via the sun gear input shaft; the front and rear planet carriers are rotatably connected to the two ends of the sun gear input shaft; the external gear ring is pressed between the front and rear planet carriers and is rotatably connected to both; the external gear ring is connected to the rope output module. Each planetary gear is equipped with a planetary gear axial drive nut; the multiple lead screws in the lead screw assembly are connected one-to-one with the planetary gear axial drive nuts in the multiple planetary gears.

3. The parallel flexible cable robot rope drive device with integrated planetary gears according to claim 2, characterized in that, The front planetary carrier includes a mounting plate and a mounting base connected by multiple connecting rods; a first circular protrusion is provided on the rear surface of the mounting base; a second circular protrusion and multiple third circular protrusions are provided on the rear surface of the first circular protrusion; a first mounting hole for the sun gear input shaft to pass through is provided on the second circular protrusion; multiple second mounting holes for the lead screw to pass through are provided on the third circular protrusion, and the multiple second mounting holes respectively penetrate the first circular protrusion and the corresponding third circular protrusion; the drive motor is mounted on the mounting plate and connected to the sun gear input shaft through a rigid coupling.

4. The parallel flexible cable robot rope drive device with integrated planetary gears according to claim 3, characterized in that, The front surface of the rear planet carrier is provided with a fourth circular protrusion; the front surface of the fourth circular protrusion is provided with a fifth circular protrusion; the fifth circular protrusion is provided with a fourth mounting hole for the sun gear input shaft to pass through; the fourth circular protrusion is provided with multiple fifth mounting holes for the lead screw to pass through. The mounting base and the external gear ring are rotatably connected by a first external gear ring bearing; the inner ring of the first external gear ring bearing is fixedly connected to the outer circular surface of the first circular protrusion of the mounting base, and the outer ring is pressed against the front surface of the external gear ring. The rear planetary carrier and the outer gear ring are rotatably connected by a second outer gear ring bearing; the inner ring of the second outer gear ring bearing is fixedly connected to the outer circular surface of the fourth circular protrusion of the rear planetary carrier, and the outer ring is pressed against the rear surface of the outer gear ring. The mounting bases of the rear planetary carrier and the front planetary carrier are connected by fastening bolts.

5. The parallel flexible cable robot cable drive device with integrated planetary gears according to claim 4, characterized in that, The planetary gear axial drive nut is fixedly connected to the inner hole of the planetary gear; the third circular protrusion of the mounting base is rotatably connected to the planetary gear through the first planetary gear bearing; the inner ring of the first planetary gear bearing is fixedly connected to the outer circular surface of the third circular protrusion of the mounting base, and the outer ring abuts against the front end face of the planetary gear axial drive nut. The fifth mounting hole of the rear planetary carrier is rotatably connected to the planetary gear via a second planetary gear bearing; a portion of the outer ring of the second planetary gear bearing is fixedly connected to the fifth mounting hole of the rear planetary carrier, and the inner ring abuts against the rear end face of the planetary gear axial drive nut.

6. The parallel flexible cable robot cable drive device with integrated planetary gears according to claim 1, characterized in that, The lead screw assembly includes three lead screws equidistantly distributed along the circumference; the number of planetary gears is also three.

7. The parallel flexible cable robot cable drive device with integrated planetary gears according to claim 1, characterized in that, The rope delivery module includes a spiral grooved rope drive roller, a fixed bracket, a rope delivery pulley, and a drive rope. The spiral grooved rope drive roller is slidably sleeved on the guide shaft and connected to the outer gear ring through multiple fixed shafts. The fixed bracket has an inverted "U" shaped structure. The lower end of the fixed bracket is connected to the base, and the rope delivery pulley is located above the spiral grooved rope drive roller and is connected to the lower surface of the upper crossbeam through a pulley bracket. One end of the drive rope is wound around and fixed on the spiral grooved rope drive roller, and the other end is deflected through the rope delivery pulley.

8. The parallel flexible cable robot rope drive device with integrated planetary gears according to claim 7, characterized in that, There are three fixed shafts; the three fixed shafts are equidistantly distributed along the circumference; the front end of the fixed shaft is connected to the external gear ring, and the rear end passes through the front baffle of the spiral groove rope drive drum and is connected to the first front baffle and the second front baffle of the spiral groove rope drive drum.

9. The parallel flexible cable robot rope drive device with integrated planetary gears according to claim 1, characterized in that, It also includes a rope status detection module located behind the rope exit module; after the driven rope passes around the exit pulley, it enters the rope status detection module; the rope status detection module can realize real-time detection of rope length and tension.

10. The parallel flexible cable robot cable drive device with integrated planetary gears according to claim 1, characterized in that, The rope condition detection module includes a sensor mounting base and a first guide wheel assembly, a rope length measuring assembly, a tension measuring assembly, and multiple second guide wheel assemblies disposed on the sensor mounting base. The first guide wheel assembly is located diagonally above the rope length measuring assembly; the second guide wheel assembly is located diagonally below the rope length measuring assembly or the tension measuring assembly; both the first guide wheel assembly and the second guide wheel assembly can change the extension direction of the drive rope. The rope length measuring assembly includes a rope length measuring wheel, a rope length measuring shaft, a rope length measuring wheel bracket, a rope length measuring shaft coupling, and a rotary encoder; the two ends of the rope length measuring shaft are respectively supported on the sensor mounting base and the rope length measuring wheel bracket; the rear end of the rope length measuring shaft is connected to the rotary encoder through the rope length measuring shaft coupling; the rope length measuring wheel is mounted on the rope length measuring shaft. The tension measuring assembly is located to the side of the rope length measuring assembly; the tension measuring assembly includes a tension measuring wheel, a tension measuring shaft, a tension measuring wheel bracket, and a tension sensor; the upper end of the tension sensor is connected to the top of the sensor mounting base, and the lower end is connected to the tension measuring wheel bracket; both ends of the tension measuring shaft are mounted on the tension measuring wheel bracket, and the tension measuring wheel is mounted on the tension measuring shaft.

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