A rope-driven motion module and a spinal robotic arm

Abstract

This invention discloses a rope-driven motion module and a spinal robotic arm, relating to the field of robotic arm technology. The rope-driven motion module includes a telescopic bending component and two driving devices. A retaining spring is provided in the rhomboid unit of the telescopic bending component. The driving devices include a motor, a pull rope, a first pin, and a second pin. By controlling the direction and rotation angle of the two motors, reliable control of the extension and bending degree of the rope-driven motion module can be achieved. Detecting the rotation direction and rotation angle of the output shafts of the two motors enables self-sensing of the attitude of the rope-driven motion module, and the rope-driven motion module can maintain stiffness under various attitudes. The spinal robotic arm includes several rope-driven motion modules arranged sequentially. Adjacent rope-driven motion modules are magnetically connected by a first magnetic base and a second magnetic base. This spinal robotic arm, when carried by a drone, can perform construction operations in high-altitude unstructured space environments.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a cable-driven motion module and a spinal robotic arm. Background Technology

[0002] With the development of drone technology, in high-altitude construction environments (such as building exterior wall construction, mountain cliff construction, power transmission tower maintenance, etc.), a feasible approach is to equip drones with robotic arms and install suitable construction tools at the end of the robotic arms to achieve remote control construction, thereby reducing the labor intensity and fall risk of construction workers.

[0003] Traditional robotic arms typically consist of multiple arms, with kinematic pairs between adjacent arms. These kinematic pairs mainly include revolute joints and prismatic joints, and different combinations of motion enable the robotic arm to perform different actions. In high-altitude construction using drones, traditional robotic arms are only suitable for construction environments with unobstructed work locations. However, high-altitude construction environments often present numerous unstructured spaces (referring to spaces with irregular shapes due to obstacles). After the drone hovers in the designated location, traditional robotic arms struggle to access these unstructured spaces to deliver tools to the work position. Therefore, it is necessary to develop a robotic arm suitable for unstructured spaces and for drone-based high-altitude operations.

[0004] Existing technologies include various flexible robotic arms capable of multi-degree-of-freedom swinging, suitable for traversing unstructured spaces. However, conventional flexible robotic arms often employ flexible materials or structural designs, resulting in insufficient strength and unsuitability for relatively heavy-duty construction environments. To adapt to various unstructured environments and meet the needs of complex motion applications, we developed a motion module and flexible spinal robot based on SMA (Application No.: 202311712162.3). This flexible spinal robot, through coordinated bending control of various local areas in any direction, can achieve the crawling motion of a snake-like robot and the functions of a biomimetic elephant trunk robot, enabling its motion control to traverse unstructured spaces. However, this flexible spinal robot is designed for use in confined spaces and is not suitable for high-altitude construction. Its structural design has at least the following drawbacks when applied to high-altitude construction environments:

[0005] Firstly, although this flexible spinal robot adopts a modular design and can be assembled into different lengths as needed, this assembly process is completed offline. This means that the number of motion modules in the flexible spinal robot is fixed when it is put into application. Since the extension and retraction stroke of each motion module is limited, the total length of the flexible spinal robot is restricted to a limited size range. However, when using drones for high-altitude construction, different work locations require different shapes and paths into unstructured spaces, and the hovering position of the drone relative to the work point also varies in different work environments. This necessitates a large variable range of robotic arm length, which this flexible spinal robot cannot meet the requirements for the extension distance to different work points in high-altitude construction. Based on the structural design of this flexible spinal robot, a conventional approach to increase its total length range is to optimize the size of the motion modules to increase their extension and retraction stroke. However, this would increase the lateral dimension of the motion modules when shortened, which is detrimental to passage through confined unstructured spaces.

[0006] Secondly, in this flexible spinal robot, the extension and bending movements of each motion module are driven by SMA springs. Since the control mechanism of SMA springs is based on the electrothermal effect, when controlling the motion modules of this flexible spinal robot, the SMA springs only have two states: energized contraction and de-energized recovery. This makes it impossible to infinitely control the bending and extension degrees of each motion module. When enlarging the structural size of this flexible spinal robot to suit the needs of UAV high-altitude construction operations, the control process of each motion module is not precise enough, making it difficult to accurately control the posture of the flexible spinal robot when it extends into unstructured spaces. Because the deformation process of the SMA springs needs to reach a set temperature threshold, and the high-altitude working environment has effects such as air convection and heat dissipation, the process of establishing the temperature threshold through the electrothermal effect is not stable. This also affects the control response of the flexible spinal robot, making it difficult to achieve accurate posture control.

[0007] Thirdly, each motion module in this flexible spinal robot is driven by an SMA spring, which has limited driving torque and is difficult to use in relatively heavy construction environments. At the same time, SMA springs are prone to fatigue failure after repeated use, resulting in a short service life. Since there are many SMA springs in this flexible spinal robot, it is difficult to ensure that the state of each SMA spring is consistent, making the motion control of the entire flexible spinal robot unstable. In addition, when used in relatively heavy construction environments, the SMA spring drive method also has the problems of high energy consumption and high cost. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide a rope-driven motion module and a spinal robotic arm, which can be mounted on a drone to realize construction operations in high-altitude unstructured space environments.

[0009] The objective of this invention is achieved through the following technical solution:

[0010] A rope-driven motion module includes a telescopic bending assembly. The telescopic bending assembly includes a base structure, which includes a connecting seat and two rhomboid units. Each rhomboid unit includes a first link, a second link, a third link, and a fourth link. One end of the first link is rotatably connected to the connecting seat and fixedly mounted with a first gear. The other end of the first link is rotatably connected to one end of the fourth link, and the other end of the fourth link is fixedly mounted with a fourth gear. One end of the second link is rotatably connected to the connecting seat and fixedly mounted with a second gear. The other end of the second link is rotatably connected to one end of the third link, and the other end of the third link is fixedly mounted with a third gear. The third gear meshes with the fourth gear. The two rhomboid units are symmetrically arranged on both sides of the connecting seat. The two first gears mesh with each other, and the two second gears mesh with each other. The base structure can achieve telescopic and bending deformation, and its position and posture are determined during deformation.

[0011] The rhomboid unit also includes an end seat and a retaining spring. The third gear and the fourth gear are both rotatably connected to the end seat. The retaining spring is used to provide a spring force that moves the first link and the second link away from each other.

[0012] The telescopic bending assembly also includes two driving devices, each comprising a motor, a pull rope, a first pin, and a second pin. The two driving devices are arranged centrally symmetrically. The two motors are respectively fixedly installed in the two end seats. In one rhomboid unit, the first and fourth links are rotatably connected via a first pin, and the second and third links are rotatably connected via a second pin. In the other rhomboid unit, the first and fourth links are rotatably connected via another second pin, and the second and third links are rotatably connected via another first pin. One end of the pull rope is wound around the output shaft of the motor, and the other end of the pull rope passes around the first pin on one rhomboid unit and is fixedly connected to the second pin on the other rhomboid unit. By controlling the direction and rotation angle of the two motors, reliable control of the deformation state of the rope-driven motion module can be achieved. Under the tension constraint of the pull rope and the elastic force of the holding spring, the rope-driven motion module can maintain its stiffness in all postures.

[0013] Furthermore, it also includes a quick-release assembly, which includes a first magnetic base and a second magnetic base. The first and second magnetic bases are fixedly connected to the ends of the two end seats that are far apart from each other. The first magnetic base has a plurality of first magnetic elements evenly distributed around its circumference at the end far from the connecting seat, and the second magnetic base has a plurality of second magnetic elements evenly distributed around its circumference at the end far from the connecting seat. The center of the evenly distributed circle of the plurality of first magnetic elements is located on the central axis of the telescopic bending assembly. The plurality of second magnetic elements are adapted to the plurality of first magnetic elements. The first magnetic base of one rope-driven motion module and the second magnetic base of another rope-driven motion module can be connected by magnetic attraction, and the relative deflection angle between the two rope-driven motion modules can be adjusted when they are connected by attraction.

[0014] Specifically, the first magnetic component is an electromagnet, and the second magnetic component is made of iron.

[0015] Furthermore, the first magnetic base has several elastic contact pieces at its end away from the connecting base, and the second magnetic base has several annular conductive pieces at its end away from the connecting base. The center of each annular conductive piece is located on the central axis of the telescopic bending assembly. The elastic contact pieces are respectively adapted to the annular conductive pieces. The system also includes a drive circuit, which includes a driver. The elastic contact pieces are connected to the annular conductive pieces via module main wires. The module main wires are connected to the driver via module branch wires. Several wires of the motor are connected to the driver. When the two rope-driven motion modules are magnetically connected, the elastic contact piece of one rope-driven motion module is pressed against the annular conductive piece of the other rope-driven motion module to achieve contact and conduction, thus connecting the motors of the two rope-driven motion modules in parallel.

[0016] Specifically, the first link, the second link, the third link, and the fourth link are all fork structures, and the pull rope is set in the central plane of the telescopic bending assembly.

[0017] Specifically, a first guide wheel is rotatably sleeved on the first pin shaft, and a first rope groove is formed on the first guide wheel. The rope body of the pull rope passes around the first guide wheel from the outside and is set in the first rope groove.

[0018] Specifically, the rhomboid unit also includes a second guide wheel, which is rotatably connected to the end seat. The second guide wheel has a second rope groove, and the rope body of the pull rope passes around the second guide wheel from the inside and is placed in the second rope groove.

[0019] Specifically, the rhomboid unit includes two retaining springs, the two ends of which are rotatably connected to the first pin and the second pin in the rhomboid unit, respectively, and the two retaining springs are symmetrically arranged on both sides of the pull rope.

[0020] A spinal robotic arm includes several rope-driven motion modules arranged sequentially. Adjacent rope-driven motion modules are magnetically connected via a first magnetic base and a second magnetic base. The spinal robotic arm is easy to assemble. During assembly, the number of rope-driven motion modules can be selected as needed, thereby adjusting the length of the spinal robotic arm. The deflection angle of each rope-driven motion module can also be adjusted during assembly. After assembly, based on the extension, retraction, and bending movements of each rope-driven motion module, the spinal robotic arm is suitable for insertion operations in various complex unstructured spaces. Furthermore, the spinal robotic arm has high rigidity and can be used for construction operations in high-altitude unstructured space environments when mounted on a drone.

[0021] The beneficial effects of this invention are:

[0022] A rope-driven motion module includes a telescopic bending assembly and two driving devices. The telescopic bending assembly includes a base structure that can telescopically extend, bend, and deform, with a defined position and shape during deformation. A retaining spring is provided in a rhomboid unit of the telescopic bending assembly. The driving devices include a motor, a pull rope, a first pin, and a second pin. The two driving devices are arranged centrally symmetrically. When the two motors operate synchronously, causing their output shafts to simultaneously wind the pull rope, the retaining spring is compressed, causing the rope-driven motion module to contract laterally and extend longitudinally. When the two motors operate synchronously, causing their output shafts to simultaneously unwind the pull rope, the retaining spring allows the rope-driven motion module to open laterally and shorten longitudinally. When the output shaft of one motor rotates to wind the pull rope, and the output shaft of the other motor rotates to unwind the pull rope at a suitable speed, the rope-driven motion module can bend in one direction. Reliable control of the extension and bending degree of this rope-driven motion module can be achieved by controlling the direction, speed, and running time of the two motors. Detecting the rotation direction and angle of the output shafts of the two motors enables self-sensing of the module's posture. Furthermore, due to the elastic force of the retaining spring and the tension constraint of the two ropes, the rope-driven motion module maintains necessary stiffness in various postures. In addition, this rope-driven motion module is not constrained by the environment, possesses high driving torque and reliability, and offers lower energy consumption and cost compared to SMA spring-driven methods.

[0023] The rope-driven motion module also includes a quick-connect assembly, which comprises a first magnetic base and a second magnetic base. The first and second magnetic bases are respectively located at both ends of the rope-driven motion module. The first magnetic base has a plurality of first magnetic elements evenly distributed around its circumference, and the second magnetic base has a plurality of second magnetic elements evenly distributed around its circumference. The centers of the evenly distributed circles of the first and second magnetic elements are all located on the central axis of the telescopic bending assembly. The first magnetic base of one rope-driven motion module and the second magnetic base of another rope-driven motion module can be connected by magnetic attraction, and the relative deflection angle between the two rope-driven motion modules can be adjusted during the attraction connection. Several elastic contact pieces are also provided at the end of the first magnetic base, and several annular conductive pieces are also provided at the end of the second magnetic base. A drive circuit is also provided within the rope-driven motion module. When the two rope-driven motion modules are attracted together, the elastic contact piece of one rope-driven motion module is pressed against the annular conductive piece of the other rope-driven motion module to achieve contact and conduction, thereby allowing the motors of the two rope-driven motion modules to be connected in parallel. Therefore, the circuit connection is completed simultaneously when the multiple rope-driven motion modules are physically connected, enabling immediate use.

[0024] A spinal robotic arm includes several rope-driven motion modules arranged sequentially, with adjacent modules magnetically connected via a first magnetic base and a second magnetic base. The spinal robotic arm is easy to assemble; the number of rope-driven motion modules can be selected during assembly to adjust the length of the arm. The deflection angle of each module can also be adjusted during assembly. After assembly, based on the extension, retraction, and bending movements of each module, the spinal robotic arm is suitable for insertion operations in various complex unstructured spaces. After assembly, the motors of each module are connected in parallel, allowing the entire arm to be powered from one end, eliminating the need for internal power supplies for each module and reducing weight and electrical maintenance. Based on the stiffness of the modules due to the elastic force of the retaining spring and the tension constraint of the two ropes, the spinal robotic arm possesses high stiffness, enabling construction operations in high-altitude unstructured spaces when mounted on a drone. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a rope-driven motion module according to the present invention;

[0026] Figure 2 This is a cross-sectional view of a telescopic bending component in a rope-driven motion module according to the present invention.

[0027] Figure 3 This is a cross-sectional view of the telescopic bending component in a rope-driven motion module of the present invention from another perspective.

[0028] Figure 4 This is a schematic diagram of the structure of one end of a rope-driven motion module according to the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of the other end of a rope-driven motion module according to the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of a spinal robotic arm according to the present invention;

[0031] Figure 7 This is a schematic diagram of the circuit principle of a spinal robotic arm according to the present invention;

[0032] In the diagram, 1-connecting seat, 2-first connecting rod, 3-second connecting rod, 4-third connecting rod, 5-fourth connecting rod, 6-first gear, 7-second gear, 8-third gear, 9-fourth gear, 10-end seat, 11-retaining spring, 12-motor, 13-pull rope, 14-first magnetic base, 15-second magnetic base, 16-first magnetic component, 17-second magnetic component, 18-elastic contact piece, 19-annular conductive sheet, 20-first guide wheel, 21-second guide wheel, 22-first pin, 23-second pin. Detailed Implementation

[0033] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0034] like Figures 1 to 5 As shown, a rope-driven motion module includes a telescopic bending assembly, which includes a base structure and two driving devices.

[0035] The base structure of the telescopic bending assembly includes a connecting seat 1 and two rhomboid units. Each rhomboid unit includes a first connecting rod 2, a second connecting rod 3, a third connecting rod 4, and a fourth connecting rod 5. One end of the first connecting rod 2 is rotatably connected to the connecting seat 1 and a first gear 6 is fixedly mounted thereon. The other end of the first connecting rod 2 is rotatably connected to one end of the fourth connecting rod 5, and a fourth gear 9 is fixedly mounted thereon. One end of the second connecting rod 3 is rotatably connected to the connecting seat 1 and a second gear 7 is fixedly mounted thereon. The other end of the second connecting rod 3 is rotatably connected to one end of the third connecting rod 4, and a third gear 8 is fixedly mounted thereon. The third gear 8 meshes with the fourth gear 9. The two rhomboid units are symmetrically arranged on both sides of the connecting seat 1. The two first gears 6 mesh with each other, and the two second gears 7 mesh with each other. The base structure can maintain the symmetry between the corresponding links through the meshing of the corresponding gears, so that the position and shape of the entire base structure can be determined when deforming. The working principle of the base structure can be found in Chinese Patent A Motion Module and Flexible Spinal Robot Based on SMA Drive (Application No.: 202311712162.3), which will not be elaborated here.

[0036] Based on the aforementioned base structure, each rhomboid unit also includes an end seat 10 and a retaining spring 11. The third gear 8 and the fourth gear 9 are rotatably connected to the end seat 10. Specifically, in implementation, two end shafts are arranged side-by-side at the center of one end of the end seat 10, and the third gear 8 and the fourth gear 9 are rotatably mounted on these two end shafts. The retaining spring 11 is a compression spring, which provides the elastic force to keep the first connecting rod 2 and the second connecting rod 3 away from each other, maintaining the tendency for the first connecting rod 2 and the second connecting rod 3 to open outwards relative to each other.

[0037] Two drive units are arranged symmetrically at the center. Each drive unit includes a motor 12, a pull rope 13, a first pin 22, and a second pin 23. The two motors 12 are fixedly installed in the two end seats 10 respectively. In the two rhomboid units, the first pin 22 and the second pin 23 also serve as hinge shafts for rotatably connecting the corresponding links. In one rhomboid unit, the first link 2 and the fourth link 5 are rotatably connected by a first pin 22, and the second link 3 and the third link 4 are rotatably connected by a second pin 23. In the other rhomboid unit, the first link 2 and the fourth link 5 are rotatably connected by another second pin 23, and the second link 3 and the third link 4 are rotatably connected by another first pin 22. One end of the pull rope 13 is wound around the output shaft of the motor 12, and the other end of the pull rope 13 passes around the first pin 22 on one rhomboid unit from the outside and is fixedly connected to the second pin 23 on the other rhomboid unit. The output shaft of the motor 12 is used as a winding shaft. When the output shaft of the motor 12 rotates in one direction, the pull rope 13 can be gradually wound around the output shaft of the motor 12, and the pull rope 13 provides tension to the second pin 23 connected to the pull rope 13. At this time, the rope segment of the pull rope 13 that abuts against the first pin 22 also applies pressure to the first pin 22. When the output shaft of the motor 12 rotates in another direction, the pull rope 13 on the output shaft of the motor 12 can be gradually unwound, and the pull rope 13 can be gradually loosened.

[0038] When in use, the rope-driven motion module maintains the tendency for the first link 2 and the second link 3 to open outwards under the action of the retaining spring 11, and the pull rope 13 is in a taut state. When the two motors 12 operate synchronously and their output shafts simultaneously wind the pull rope 13, the length of the rope segment between the motor 12 and the second pin 23 connected to the same pull rope 13 shortens. This compresses the retaining spring 11, causing the rope-driven motion module to contract laterally (in the arrangement direction of the first pin 22 and the second pin 23 in the rhomboid unit) and extend longitudinally (in the arrangement direction of the two rhomboid units). When the two motors 12 operate synchronously and their output shafts simultaneously unwind the pull rope 13, the rope-driven motion module can open laterally and shorten longitudinally under the action of the retaining spring 11. When the output shaft of one motor 12 rotates to wind the pull rope 13, and the output shaft of the other motor 12 rotates to unwind the pull rope 13 at a suitable speed, the rope-driven motion module can bend in one direction.

[0039] By controlling the direction, speed, and running time of the two motors 12, the extension, retraction, and bending movements of the rope-driven motion module can be controlled. Direction control mainly refers to controlling the winding or unwinding motion on the output shaft of the motor 12. Regarding speed control, it should be noted that the speeds of the two motors 12 need to be coordinated to maintain a suitable length relationship between the rope segments of the pull ropes 13 on both sides of the rope-driven motion module, thus ensuring that the rope-driven motion module maintains a reliable tension on both pull ropes 13 in any posture. Controlling the speed and running time determines the rotation angle of the output shaft of the motor 12, corresponding to the control of the winding or unwinding length of the pull rope 13 on the output shaft of the motor 12.

[0040] This rope-driven motion module is driven by motor 12 and pull rope 13 during posture changes, and the two pull ropes 13 are always kept taut in all postures. Since the posture of the base structure of this rope-driven motion module is determined during deformation, the degree of deformation during posture changes is linearly related to the length of the rope segments of the two pull ropes 13 extending beyond the corresponding motor 12. Furthermore, the length of the rope segments extending beyond the corresponding motor 12 is linearly related to the direction and rotation angle of the output shaft of the motor 12. Therefore, reliable control of the deformation state of the rope-driven motion module can be achieved by controlling the direction, speed, and operating time of the two motors 12. In the above control process, this rope-driven method allows for precise control of the bending and stretching degree of the rope-driven motion module. If the rotation angle of the output shaft of the two motors 12 is detected in real time (e.g., by adding a resolver to the motor 12 for detection), the length of the rope segments of the two pull ropes 13 extending beyond the corresponding motor 12 can be calculated from the detected value, thereby obtaining the real-time posture of the rope-driven motion module and realizing the posture self-sensing of the rope-driven motion module. Since the two ropes 13 remain taut after the posture change, the structural stability of the rope-driven motion module after the posture change is maintained by the combined effect of the tension constraint of the two ropes 13 and the elastic force of the retaining spring 11. This ensures that the rope-driven motion module maintains the necessary stiffness in each posture, which is beneficial for use in relatively heavy-duty working environments. In addition, compared with the SMA spring-driven type, this rope-driven motion module is not constrained by the environment, its deformation control is accurate and reliable, and it has higher driving torque while having lower energy consumption and cost.

[0041] Furthermore, such as Figure 1 , Figure 4 , Figure 5As shown, the rope-driven motion module also includes a quick-release assembly, which includes a first magnetic base 14 and a second magnetic base 15. The first magnetic base 14 and the second magnetic base 15 are respectively fixedly connected to the ends of the two end seats 10 that are far apart from each other. A plurality of first magnetic elements 16 are evenly distributed around the circumference of the end of the first magnetic base 14 that is far away from the connecting seat 1, and a plurality of second magnetic elements 17 are evenly distributed around the circumference of the end of the second magnetic base 15 that is far away from the connecting seat 1. The centers of the evenly distributed circles of the plurality of first magnetic elements 16 and the evenly distributed circles of the plurality of second magnetic elements 17 are both located on the central axis of the aforementioned telescopic bending assembly. The plurality of second magnetic elements 17 are respectively adapted to the plurality of first magnetic elements 16. The first magnetic elements 16 and the second magnetic elements 17 correspond one-to-one. When the first magnetic element 16 of one rope-driven motion module and the second magnetic element 17 of another rope-driven motion module approach each other, the two rope-driven motion modules are attracted and connected together under the action of magnetic force. Since there are several of the first magnetic 16 and the second magnetic 17 evenly distributed around each circumference, when the two rope-driven motion modules are connected by adsorption, different first magnetic 16 and second magnetic 17 can be selected for alignment and adsorption, so that the two rope-driven motion modules can present different deflection angles when they are connected by adsorption.

[0042] In implementation, the first magnetic chuck 16 and the second magnetic chuck 17 can be made of permanent magnets and iron sheets, respectively. Several rope-driven motion modules can be conveniently connected into a whole by the magnetic force of the permanent magnets. However, disassembly requires external force (such as manual operation by an operator) to separate two adjacent rope-driven motion modules. Preferably, the first magnetic chuck 16 is made of electromagnet, and the second magnetic chuck 17 is made of iron. When the first magnetic chuck 16 and the second magnetic chuck 17 are close together, energizing the first magnetic chuck 16 will cause the first magnetic chuck 16 and the second magnetic chuck 17 to be attracted and connected. In the attracted and connected state, de-energizing the first magnetic chuck 16 will cause the first magnetic chuck 16 and the second magnetic chuck 17 to be separated.

[0043] Furthermore, such as Figure 4 , Figure 5 , Figure 7As shown, the first magnetic base 14 has several elastic contact pieces 18 at its end away from the connecting base 1, and the second magnetic base 15 has several annular conductive pieces 19 at its end away from the connecting base 1. The center of the annular conductive pieces 19 is located on the central axis of the aforementioned telescopic bending assembly. The elastic contact pieces 18 are respectively adapted to the annular conductive pieces 19. The rope-driven motion module also has a built-in drive circuit, which includes a driver. The elastic contact pieces 18 correspond one-to-one with the annular conductive pieces 19. The elastic contact pieces 18 and the corresponding annular conductive pieces 19 are connected through the module main wire. The module main wires are all connected to the driver through module branch wires. The motor 12 has several wires connected to the driver. In a rope-driven motion module, two motors 12 are connected in parallel to several main power lines of the module. When two rope-driven motion modules are connected together by the aforementioned adsorption connection, several elastic contact pieces 18 of one rope-driven motion module press against several annular conductive pieces 19 of the other rope-driven motion module to achieve contact and conduction, so that several main power lines of the two rope-driven motion modules are respectively connected. At this time, four motors 12 are connected in parallel. Similarly, when each rope-driven motion module is connected, the two motors 12 of that rope-driven motion module are connected in parallel.

[0044] As an example, such as Figure 7 As shown, motor 12 is a two-phase stepper motor, and the driver is a YL28M driver. Each YL28M driver can be pre-configured with a unique station number. During the setup of the drive circuit, there are four main power lines: two power lines and two control lines. Each main power line is connected to a flexible contact 18 and a ring-shaped conductive sheet 19 at both ends. One power line is connected to the driver's VCC terminal via a branch wire, and another power line is connected to the driver's GND terminal via a branch wire. One control line is connected to the driver's A terminal via a branch wire, and another control line is connected to the driver's B terminal via a branch wire. The two ends of the A-phase winding of motor 12 are connected to the driver's A+ and A- terminals respectively, and the two ends of the B-phase winding of motor 12 are connected to the driver's B+ and B- terminals respectively. It should be understood that if the first magnetic chuck 16 is an electromagnet, it can be connected in parallel to the main power line of the module using a similar connection method as motor 12.

[0045] A power supply module is fixedly installed on the bottom of the drone. The power supply module includes a power supply, an RS485 serial-to-Bluetooth converter, and a first magnetic mount 14. The RS485 serial-to-Bluetooth converter has the function of logical addressing each YL28M driver and can also connect to mobile terminals (such as mobile phones) via Bluetooth. The circuit principle of the power supply module is as follows: Figure 7As shown, the first magnetic base 14 has four elastic contacts 18. Two of the elastic contacts 18 are each connected to a power supply line, and the other two elastic contacts 18 are each connected to a power control line. The VCC and GND terminals of the power supply are connected to the two power supply lines via wires (SB1 in the figure is a normally open switch, and SB2 is an emergency stop switch, used to control the on / off state of the wires connected to the VCC terminal of the power supply). The VCC and GND terminals of the RS485 serial Bluetooth converter are connected to the two power supply lines via wires, and the A and B terminals of the RS485 serial Bluetooth converter are connected to the two power control lines via wires. The physical structure of the power supply module (not shown in the figure) can be made into an integral module structure, which includes a housing. The power supply and RS485 serial Bluetooth converter are both housed in the housing. The first magnetic base 14 is located at one end of the housing, and the other end of the housing is fixedly connected to the bottom of the drone. Figure 7 As shown, the first magnetic base 14 of the power supply module is sequentially connected to three rope-driven motion modules, thus establishing four electrical buses while completing the physical connection of each rope-driven motion module. Figure 7 The two horizontal lines at the top center represent the control bus, and the two horizontal lines at the bottom represent the power bus. After closing the normally open switch SB1, both motors 12 of each rope-driven motion module are powered on. In application, the operator first sets parameters such as the target station number, motor direction, motor speed, and running time via a mobile terminal (e.g., a mobile app). These parameters are then sent to the RS485 serial-to-Bluetooth converter via Bluetooth wireless protocol. The RS485 serial-to-Bluetooth converter then performs protocol conversion, converting the Bluetooth data packets into serial data frames and transmitting them to each YL28M driver via the control bus. After receiving the command for its station number, the YL28M driver's internal microprocessor parses the command into specific control signals and controls the direction, speed, and running time of the corresponding motor 12 based on the parsed control signals.

[0046] Specifically, such as Figures 1 to 3As shown, in this rope-driven motion module, the first link 2, the second link 3, the third link 4, and the fourth link 5 are all fork structures. The pull rope 13 is set in the central plane of the telescopic bending assembly to avoid the force of the pull rope 13 being off-center. The hollow part of the fork of each link also provides installation and movement space for the pull rope 13. The first guide wheel 20 is rotatably sleeved on the first pin 22. The first guide wheel 20 has a first rope groove. The rope body of the pull rope 13 passes around the first guide wheel 20 from the outside and is set in the first rope groove. Each diamond unit also includes a second guide wheel 21. The second guide wheel 21 is rotatably connected to the end seat 10 (in implementation, the second guide wheel 21 is rotatably sleeved on an end shaft). The second guide wheel 21 has a second rope groove. The rope body of the pull rope 13 passes around the second guide wheel 21 from the inside and is set in the second rope groove. The first guide wheel 20 and the second guide wheel 21 are used to guide the pull rope 13 to reduce wear on the pull rope 13. The first rope groove and the second rope groove are used to limit the pull rope 13 within the central plane of the telescopic bending assembly. Two retaining springs 11 are provided in the rhomboid unit to provide sufficient elasticity and maintain the structural rigidity of the rope-driven motion module. The two ends of the retaining springs 11 are rotatably connected to the first pin 22 and the second pin 23 in the rhomboid unit, respectively. The two ends of the retaining springs 11 can be rotated to avoid generating torque during compression and reset. The two retaining springs 11 are symmetrically arranged on both sides of the pull rope 13 to ensure that the two retaining springs 11 are subjected to balanced forces.

[0047] A spinal robotic arm includes several rope-driven motion modules, arranged sequentially, with adjacent modules magnetically connected via a first magnetic base 14 and a second magnetic base 15. One end of the spinal robotic arm is mounted on a drone, and the other end is equipped with construction tools (such as mechanical grippers or electromagnets), enabling high-altitude construction operations under the transport of a drone. Its main technical functions are as follows:

[0048] Firstly, because each rope drive module can maintain its rigidity in various postures by maintaining the elasticity of the spring 11 and the constraint of the pull rope 13, the spinal robotic arm as a whole has a certain rigidity and load-bearing capacity, making it suitable for relatively heavy construction operation environments.

[0049] Secondly, since each rope-driven motion module can independently perform extension and bending actions, its extension and bending degrees can be reliably and precisely controlled. Furthermore, by monitoring the direction and rotation angle of the two motors 12, the attitude self-sensing of the rope-driven motion module can be directly realized. During construction operations, the bending posture of the entire spinal robotic arm can be accurately controlled, making it suitable for insertion operations in various unstructured spaces such as S-bends and wavy shapes.

[0050] Thirdly, each rope-driven motion module adopts a modular design, and adjacent rope-driven motion modules are connected by magnetic adsorption, which can quickly complete the assembly or disassembly of the rope-driven motion modules, thereby changing the overall length of the spinal robotic arm, suitable for insertion operations in unstructured spaces of different depths. Specifically, during assembly, the drone is initially equipped with a first magnetic base 14 at its bottom, and a second magnetic base 15 is fixed to the top of the construction tool. Each rope-driven motion module is placed on the site with the second magnetic base 15 facing upwards. The drone can be controlled to fly to the top of each rope-driven module in sequence to complete the assembly of the spinal robotic arm through magnetic connection. Finally, the drone can be controlled to fly to the top of the construction tool to complete the magnetic connection of the construction tool. During disassembly, if the first magnetic component 16 is an electromagnet, de-energizing the first magnetic component 16 of a certain rope-driven motion module will cause the rope-driven motion module and the construction tool below it to fall off naturally under their own weight.

[0051] Fourth, when the first magnetic base 14 of one rope-driven motion module is magnetically connected to the second magnetic base 15 of another rope-driven motion module, since several first magnetic elements 16 and second magnetic elements 17 are evenly distributed around each circumference, different alignment and attraction of the first magnetic elements 16 and second magnetic elements 17 can be selected, thereby adjusting the relative deflection angle of the two rope-driven motion modules. This is reflected on the entire spinal robotic arm. During assembly, the deflection angle of each rope-driven motion module can be selected as needed, making it suitable for insertion operations in various complex unstructured spaces. In addition, this magnetic attraction connection method also achieves omnidirectional blind insertion, eliminating the need for precise alignment in traditional connection methods, making the assembly, reconstruction, and expansion of the spinal robotic arm faster.

[0052] Fifth, when the first magnetic base 14 of one rope-driven motion module is attracted and connected to the second magnetic base 15 of another rope-driven motion module, since the elastic contact 18 is made of elastic material, the elastic contact 18 can be pressed onto the annular conductive sheet 19, so that the main wires of several modules in the two rope-driven motion modules are respectively connected, thereby connecting the four motors 12 in the two rope-driven motion modules in parallel. Reflected on the entire spinal robotic arm, during physical assembly, the main wires of each rope-driven motion module are connected sequentially, and each motor 12 is connected in parallel. Thus, by setting a power supply module at one end of the spinal robotic arm to supply power to the entire spinal robotic arm, it is possible to connect and use immediately. This spinal robotic arm allows for the addition, removal, or replacement of functional modules (rope-driven motion modules, construction tools, and expansion modules with other functions) without any software configuration, greatly improving its maintainability and upgradeability. Furthermore, each rope-driven motion module does not require a separate power supply, reducing its weight and electrical maintenance. Additionally, the magnetic adsorption connection provides a unique fault-tolerant mechanism; the magnetic force at the connection point between two rope-driven motion modules can be precisely designed to function like a fuse, allowing for preferential disengagement in case of overload or accidental impact, preventing damage to internal electrical components.

[0053] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A rope-driven motion module, comprising a telescopic bending assembly, the telescopic bending assembly comprising a connecting seat and two rhomboid units, each rhomboid unit comprising a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod; one end of the first connecting rod is rotatably connected to the connecting seat and fixedly mounted with a first gear; the other end of the first connecting rod is rotatably connected to one end of the fourth connecting rod, the other end of the fourth connecting rod being fixedly mounted with a fourth gear; one end of the second connecting rod is rotatably connected to the connecting seat and fixedly mounted with a second gear; the other end of the second connecting rod is rotatably connected to one end of the third connecting rod, the other end of the third connecting rod being fixedly mounted with a third gear; the third gear meshes with the fourth gear; the two rhomboid units are symmetrically arranged on both sides of the connecting seat; the two first gears mesh with each other; the two second gears mesh with each other; characterized in that… The rhomboid unit also includes an end seat and a retaining spring. The third gear and the fourth gear are both rotatably connected to the end seat. The retaining spring is used to provide a spring force that moves the first link and the second link away from each other. The telescopic bending assembly also includes two drive devices, each comprising a motor, a pull rope, a first pin, and a second pin, with the two drive devices arranged symmetrically at the center. The two motors are respectively fixedly mounted in the two end seats. In one rhombic unit, the first and fourth links are rotatably connected by a first pin, and the second and third links are rotatably connected by a second pin. In the other rhombic unit, the first and fourth links are rotatably connected by another second pin, and the second and third links are rotatably connected by another first pin. One end of the pull rope is wound around the output shaft of the motor, and the other end of the pull rope passes over the first pin on one of the diamond-shaped units from the outside and is fixedly connected to the second pin on the other diamond-shaped unit.

2. The rope-driven motion module according to claim 1, characterized in that, It also includes a quick-release assembly, which includes a first magnetic base and a second magnetic base. The first magnetic base and the second magnetic base are respectively fixedly connected to the ends of the two end seats that are far apart from each other. A plurality of first magnetic elements are evenly distributed around the circumference of the end of the first magnetic base that is far away from the connecting seat. A plurality of second magnetic elements are evenly distributed around the circumference of the end of the second magnetic base that is far away from the connecting seat. The center of the evenly distributed circle of the plurality of first magnetic elements is located on the central axis of the telescopic bending assembly. The plurality of second magnetic elements are respectively adapted to the plurality of first magnetic elements.

3. The rope-driven motion module according to claim 2, characterized in that, The first magnetic component is an electromagnet, and the second magnetic component is made of iron.

4. The rope-driven motion module according to claim 2, characterized in that, The first magnetic base has a plurality of elastic contact pieces at the end away from the connecting base, and the second magnetic base has a plurality of annular conductive pieces at the end away from the connecting base. The center of the annular conductive pieces is located on the central axis of the telescopic bending assembly, and the plurality of elastic contact pieces are respectively adapted to the plurality of annular conductive pieces. It also includes a drive circuit, which includes a driver. Several elastic contact pieces are respectively connected to several annular conductive pieces through module main wires. Several module main wires are all connected to the driver through module branch wires. Several wires of the motor are all connected to the driver.

5. A rope-driven motion module according to any one of claims 1 to 4, characterized in that, The first link, the second link, the third link, and the fourth link are all fork structures, and the pull rope is set in the central plane of the telescopic bending assembly.

6. A rope-driven motion module according to claim 5, characterized in that, A first guide wheel is rotatably sleeved on the first pin shaft. A first rope groove is provided on the first guide wheel. The rope body of the pull rope passes around the first guide wheel from the outside and is placed in the first rope groove.

7. A rope-driven motion module according to claim 6, characterized in that, The rhomboid unit also includes a second guide wheel, which is rotatably connected to the end seat. The second guide wheel has a second rope groove, and the rope body of the pull rope passes around the second guide wheel from the inside and is placed in the second rope groove.

8. A rope-driven motion module according to claim 5, characterized in that, The rhomboid unit includes two retaining springs, the two ends of which are rotatably connected to the first pin and the second pin in the rhomboid unit, respectively. The two retaining springs are symmetrically arranged on both sides of the pull rope.

9. A spinal robotic arm, characterized in that, It includes several rope-driven motion modules as described in claim 4, wherein the several rope-driven motion modules are arranged in sequence, and adjacent two rope-driven motion modules are magnetically connected by a first magnetic base and a second magnetic base.

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