Rope quick-release modular rope valve device for continuum robot

Abstract

The invention relates to the technical field of rope mechanics of rope-driven continuum robots, in particular to a rope quick-release modular rope valve device for a continuum robot. The invention relates to a drag chain, which is characterized by comprising a drag chain flange, a mother valve block cabin and a son valve block cabin, the mode that the mother valve block and the son valve block are separately connected with ropes at the two ends is adopted, so that the whole rope is directly disassembled, the son valve block cabin and the mother valve block cabin can be quickly screwed and separated through special structural design, a quick disassembly structure is realized, and a flexible section is convenient to replace; by means of the multiple parallel guide holes subjected to chamfering treatment, it is ensured that the rope moves along the path with the minimum error, too large direct friction and cable-stayed errors are avoided, and the control precision and the mechanical feedback response precision are improved; sectional separation of the through rope between the driving end and the flexible section is achieved, the whole continuum robot is partially modularized, the flexible section can be rapidly disassembled and assembled according to functional requirements and repair and maintenance requirements, and the comprehensive efficiency of the continuum robot platform is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of rope mechanics technology for rope-driven continuous robots, and more particularly to a quick-release modular rope valve device for continuous robots. Background Technology

[0002] Continuous robots, with their core characteristics such as no rigid joints, continuous and controllable motion trajectories, and adaptability to confined spaces, have become key technological equipment in various confined space inspection and operation fields, especially demonstrating irreplaceable engineering value in the field of aero-engine (hereinafter referred to as "aero-engine") maintenance. As the core power component of aviation equipment, the aero-engine exhibits highly integrated and complex internal structures, including numerous curved cavities, narrow-gap flow channels, and dense blade arrays. Maintenance operations require reaching deep areas inaccessible to traditional rigid robots with sub-millimeter positioning accuracy to complete critical operations such as defect detection, foreign object removal, and precision component assembly. This places stringent requirements on the motion controllability, structural adaptability, and operational reliability of continuous robots.

[0003] Currently, cable-driven operation remains the mainstream driving solution for continuum robots. This solution achieves motion and attitude control of each flexible segment through cable tension regulation, thereby driving the robot's end effector to reach the target area in a confined workspace. It boasts advantages such as high transmission efficiency, lightweight structure, and sensitive force control response. In the field of aero-engine maintenance, the application of cable-driven continuum robots has gradually expanded. They can replace manual labor in performing high-risk, high-precision tasks, significantly improving the accuracy and reliability of maintenance operations, and providing technical support for optimizing the efficiency of aero-engine maintenance.

[0004] However, in the actual working conditions of aero-engine maintenance, the continuum robot still faces three major technological bottlenecks: Firstly, the deep flow channels and cavity structures of aero-engines place higher demands on the aspect ratio of robots. The flexible sections of high aspect ratio continuum robots are prone to significant fatigue creep failure due to long-term exposure to alternating loads, leading to a surge in the frequency of flexible section replacement. However, traditional continuum robots mostly adopt an integrated design, with strong coupling between the flexible sections and the drive and execution modules. The maintenance and replacement process requires disassembling the entire structure, which is not only time-consuming and complex, but also directly restricts the overall efficiency of aero-engine maintenance. Secondly, traditional continuum robots generally adopt a task-oriented integrated design, with high integration between functional modules such as inspection, cleaning, and assembly and the main body structure. This makes rapid disassembly and replacement difficult, resulting in a single robot only being suitable for specific maintenance tasks. In multi-task scenarios during aero-engine maintenance (such as inspection followed by cleaning), multiple dedicated robots are required, increasing both the procurement and storage costs of maintenance equipment and extending the equipment debugging cycle before maintenance. This severely hinders the achievement of cost reduction and efficiency improvement goals in the aero-engine maintenance field. Third, from a technological development perspective, current research on continuum robots remains largely concentrated in the laboratory stage. Research focuses primarily on performance optimization and prototype development for single-task scenarios, lacking systematic research into modular and universal design concepts. This results in insufficient functional scalability and scenario adaptability of existing research achievements, not only reducing the efficiency of technology transfer but also failing to meet the actual needs of the aero-engine maintenance field for multi-task adaptability. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a quick-release modular rope valve device for a continuum robot. It adopts a method of separating the two ends of the rope by connecting the mother and daughter valve blocks, thereby directly disassembling the entire rope. Through a special structural design, the daughter valve block (cabin) and the mother valve block (cabin) can be quickly twisted apart, realizing a quick-release structure.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a quick-release modular rope valve device for a continuous robot, characterized by comprising a drag chain flange, a mother valve block compartment, and a daughter valve block compartment. The drag chain flange is connected to one end of the mother valve block compartment, and the other end of the mother valve block compartment is connected to the daughter valve block compartment. The drag chain flange is provided with a flange interface, a drag chain flange parallel disc hole, an end sensor cable outlet, a sensor cable fixing groove, and a drag chain flange fixing hole. The mother valve block compartment is provided with a mother valve block compartment fixing hole, an external intervention groove, a guide rail fixing groove, and a positioning pin channel. The drag chain flange and the mother valve block compartment are fixedly connected through the drag chain flange fixing hole and the mother valve block compartment fixing hole. The daughter valve block compartment includes a daughter valve block, a daughter valve block compartment inner wall, a daughter valve block compartment fastening shell, and a daughter valve block compartment flange. The daughter valve block compartment inner wall is located inside the daughter valve block compartment fastening shell. The daughter valve block and the daughter valve block compartment flange are installed on the daughter valve block compartment inner wall, and a flared structure is installed on the daughter valve block compartment flange.

[0007] The sub-valve block chamber is also equipped with a flared structure.

[0008] Furthermore, the flange interface is used to connect an external cable chain, which is a square cable cable chain. The square cable cable chain contains up to 16 input ropes. The parallel disc holes of the cable chain flange are evenly arranged circumferentially around the central axis of the overall cable chain flange structure. The 16 input ropes are wrapped with sleeves and pass through the parallel disc holes of the cable chain flange via sleeve fixing joints. The interior of the mother valve block compartment is also equipped with a linear guide rail, on which a linear guide rail slider is installed. The mother valve block is mounted on the linear guide rail slider.

[0009] The linear guide rail is installed inside the main valve block compartment via fasteners and guide rail fastening holes. The end of the linear guide rail is inserted into the guide rail fixing slot. The linear guide rail slider is provided with a guide rail slider mating groove and a guide rail slider fastening hole. The linear guide rail slider is installed on the linear guide rail via the guide rail slider mating groove and is provided with a guide rail slider fastening hole. The main valve block is provided with a sensor fixing thread, a main valve block fastening hole, a main valve block slot, a main valve block alignment hole, and a lead seal hole. The linear guide rail slider and the main valve block are fixedly connected via fasteners, guide rail slider fastening holes, and main valve block fastening holes. A sensor or fixing component connected to the input rope is provided on the sensor fixing thread.

[0010] The sub-valve block is provided with a sub-valve block positioning pin, a sub-valve block rope hole, and a sub-valve block alignment hole; the inner wall of the sub-valve block compartment is provided with a grid plate guide groove, an inner wall fastening hole, a sub-valve block positioning hole, and a rope guide hole on the inner wall of the sub-valve block compartment; the flared structure is provided with a flared fastening hole; the sub-valve block compartment fastening shell is provided with a mounting fastening lug, a spring positioning hole, a spring cavity, a fastening shell grid plate, a positioning pin cylinder, and a positioning pin hole; the sub-valve block compartment flange is provided with a flange parallel guide hole, a sub-valve block compartment flared hole, a sub-valve block compartment flange hole, a sensor lead hole, and a sensor wire support; a spring is provided in the spring cavity, and a positioning pin is provided in the positioning pin cylinder and the positioning pin hole.

[0011] The diameter of the parallel disc hole of the cable chain flange is 3mm. The end sensor cable outlet consists of four equally spaced holes for leading out the sensor cable inside the rope valve. The sensor cable fixing groove is used to fix the sensor cable with fasteners. The cable chain flange fixing hole is used to fasten the cable chain flange to the fixing hole of the mother valve block compartment.

[0012] The linear guide rails are arranged in 16 positions along the circumference of the mother valve block compartment, corresponding to the 16 input ropes, with the central axis of the mother valve block compartment as the axis. The external intervention slots are also arranged in 16 positions along the circumference of the mother valve block compartment, with equal spacing between them. The guide rail fixing slots are also arranged in 16 positions along the circumference of the mother valve block compartment, with equal spacing between them and the external intervention slots, and are used to fix the linear guide rails through the guide rail fastening holes. The positioning pin channel is a 4mm deep groove-shaped channel used to accommodate the movement of the positioning pin and, in conjunction with the positioning pin, to fix the sub-valve block compartment.

[0013] The slotted mother valve block has a square opening for weight reduction and placement of valve block markings; the alignment hole of the mother valve block is a through hole, and an auxiliary positioning structure is provided around the alignment hole of the mother valve block for use in cooperating with the alignment hole of the child valve block to fix the child valve block during use; the lead seal hole is a through hole for inserting a lead seal strip during use.

[0014] The sub-valve blocks are distributed in 16 groups at equal intervals along the circumference with the central axis of the inner wall of the sub-valve block compartment as the axis. The sub-valve block positioning pins are two protrusions used to fix the sub-valve blocks to the corresponding positions on the inner wall of the sub-valve block compartment through the sub-valve block positioning holes during installation. The sub-valve block rope holes are a set of two holes of different diameters used to allow the output rope to pass through and be fixed. The sub-valve block alignment hole is a protrusion, and the sub-valve block alignment hole is provided with an auxiliary positioning structure around it for use to cooperate with the alignment hole of the mother valve block for fixation during use. The inner wall of the sub-valve block compartment has four equally spaced grooves distributed circumferentially around the central axis of the sub-valve block compartment fastening shell. The grid plate guide groove is a concentric narrow groove used to cooperate with the fastening shell grid plate to position the sub-valve block compartment fastening shell. The inner wall fastening holes are evenly distributed holes used to cooperate with the sub-valve block compartment flange holes to stagger and fix the sub-valve block compartment flange. The sub-valve block positioning holes are two through holes used to cooperate with the sub-valve block positioning pin to position the sub-valve block during installation. The rope guide hole on the inner wall of the sub-valve block compartment is a hole aligned with the valve block rope threading hole to ensure that the output rope passing through the sub-valve block rope threading hole can be output in the correct direction. The flared mouth fastening holes on the flared mouth structure are used to mate and fix with the flared mouth holes of the sub-valve block compartment; the sub-valve block compartment fastening shells are four evenly spaced around the central axis of the overall structure; the mounting fastening ears are protruding ear-shaped structures on both sides of the sub-valve block compartment fastening shells, used to fasten two adjacent sub-valve block compartment fastening shells together; the spring positioning holes are used to screw in the screws to position and fix the internal springs; the spring cavities are used to accommodate the cavity positions of the internal springs, and two adjacent spring cavities are separated by fastening shell grid plates; the fastening shell grid plates are used to cooperate with the grid plate guide grooves to position the sub-valve block compartment fastening shells; the positioning pin cylinder is a partially threaded cylindrical structure used to accommodate and adjust the positioning pin; the positioning pin hole is a hole located at the bottom of the positioning pin cylinder, used to lead out the positioning pin. The sub-valve block chamber flanges are four in number, evenly spaced along the central axis of the overall structure. The parallel guide holes on the flanges are aligned with the rope guide holes on the inner wall of the sub-valve block chamber, ensuring that the output ropes can enter the flared structure without interference. The flared opening holes in the sub-valve block chamber are evenly distributed, used to cooperate with the flared opening fastening holes to fix the flared structure. The flange holes in the sub-valve block chamber are also evenly distributed, used to cooperate with the inner wall fastening holes for staggered fixation to the inner wall of the sub-valve block chamber. The sensor lead hole is a smooth hole with its axis perpendicular to the central axis of the sub-valve block chamber flange structure, ensuring that the sensor cable bundle from the flared structure can leave the overall structure without interfering with the output ropes. The sensor cable holder is a structure that does not interfere with the output ropes, ensuring that the sensor cable bundle from the flared structure can change direction to be perpendicular to the central axis of the overall structure and can leave through the sensor lead hole.

[0015] Furthermore, the positioning pin is a single-ended threaded rod-shaped structure. The outer diameter of the rod-shaped part of the positioning pin does not exceed the inner diameter of the positioning pin hole. The positioning pin is provided with a tension thread, and the threaded part engages with the thread in the positioning pin cylinder for fixation. The length of the pin extending out of the positioning pin hole is adjusted by fasteners, and the positioning pin channel is used to fix the sub-valve block chamber during use.

[0016] The beneficial effects of this invention are as follows: The quick-release modular rope valve device for a continuous robot includes a sub-valve block compartment, a mother valve block compartment, a drag chain flange, and its internal components. It employs a method of separating the sub-valve block from the mother valve block, allowing direct disassembly of the entire rope section. Through a special structural design, the sub-valve block (compartment) and mother valve block (compartment) can be quickly twisted apart, thus achieving a quick-release structure and facilitating the replacement of the flexible section. Multiple chamfered parallel guide holes ensure that the rope moves along a path with minimal error, avoiding excessive direct friction and oblique tension errors, thereby improving control accuracy and mechanical feedback response precision. It achieves segmented separation of the continuous rope from the drive end to the flexible section, enabling partial modularization of the entire continuous robot. This allows the flexible section to be quickly disassembled and assembled according to functional requirements and maintenance needs, effectively improving the overall efficiency of the continuous robot platform. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the drag chain flange structure of the present invention; Figure 3 This is a schematic diagram of the mother valve block compartment structure of the present invention; Figure 4 This is a schematic diagram of the linear guide rail and its auxiliary structure according to the present invention; Figure 5 This is a schematic diagram of the sub-valve block compartment and its internal structure according to the present invention; Figure 6 This is a schematic diagram of the sub-valve block compartment inner wall, sub-valve block compartment fastening shell, and sub-valve block compartment flange structure of the present invention. Figure 7 This is a schematic diagram of the sub-valve block structure within the sub-valve block compartment of the present invention; Figure 8 This is a schematic diagram of the spring and locating pin structure of the present invention; Figure 9 This is a schematic diagram of the installation of the bell-shaped structure of the present invention on the flange of the sub-valve block compartment; Figure 10 This is a schematic diagram showing the staggered installation of the inner wall of the sub-valve block compartment and the flange of the sub-valve block compartment according to the present invention; Figure 11 This is a schematic diagram of the installation of the sub-valve block compartment fastening shell of the present invention; Figure 12 This is a schematic diagram of the spring mounting according to the present invention; Figure 13 This is a schematic diagram and a partial enlarged view of the installation of the sub-valve block compartment fastening shell on the sub-valve block compartment according to the present invention; Figure 14 This is a schematic diagram of the installation of the positioning pin of the present invention; Figure 15 This is a schematic diagram showing the path and installation of the output rope in the sub-valve block chamber and on the sub-valve block in Embodiment 1 of the present invention; Figure 16 This is the alignment method between the sub-valve block and the inner wall of the sub-valve block compartment in this invention; Figure 17 This is a schematic diagram showing the path and installation of the input rope on the drag chain flange and the main valve block of the present invention. Figure 18 This is a schematic diagram of the linear guide rail, linear guide rail slider, and mother valve block of the present invention being installed on the mother valve block compartment. Figure 19 This is a schematic diagram of the structural alignment during the quick assembly process of the present invention; Figure 20 This is a schematic diagram showing the initial compression of the structure during the quick assembly process of the present invention; Figure 21 This is a schematic diagram illustrating the two-step assembly process and final effect of the present invention during the quick assembly process; Figure 22 This is a schematic diagram showing the actual movement path of the positioning pin within the positioning pin channel during the quick assembly process of the present invention. Figure 23 This is a schematic diagram illustrating the actual cooperation between a set of sub-valve blocks and a mother valve block during the quick assembly process of the present invention; Figure 24 This is a schematic diagram illustrating the actual engagement between a set of sub-valve blocks and a mother valve block after the input rope is tightened during the quick assembly process of this invention. Figure 25 This is a schematic diagram showing the path and installation of the output rope in the sub-valve block chamber and sub-valve block in Embodiment 2 of the present invention.

[0018] In the diagram: 1. Cable chain flange; 2. Main valve block compartment; 3. Sub-valve block compartment; 101. Flange interface; 102. Cable chain flange parallel disc hole; 103. End sensor cable outlet; 104. Sensor cable fixing groove; 105. Cable chain flange fixing hole; 201. Main valve block compartment fixing hole; 202. External intervention groove; 203. Guide rail fixing groove; 204. Positioning pin channel; 210. Linear guide rail; 211. Guide rail fastening hole; 220. Linear guide rail slider; 221. Guide rail slider mating groove; 222. Guide rail slider fastening hole; 230. Main valve block; 231. Sensor fixing thread; 232. Main valve block fastening hole; 233. Main valve block slot; 234. Main valve block alignment hole; 235. Lead seal hole; 310. Sub-valve block; 311. Sub-valve block drop. Positioning pin, 312, sub-valve block rope hole, 313, sub-valve block alignment hole, 320, sub-valve block inner wall, 321, grid plate guide groove, 322, inner wall fastening hole, 323, sub-valve block positioning hole, 324, sub-valve block inner wall rope guide hole, 330, flared structure, 331, flared fastening hole, 340, sub-valve block fastening shell, 341, mounting fastening lug, 342, spring positioning hole, 343, spring cavity, 344, fastening shell grid plate, 345, positioning pin cylinder, 346, positioning pin hole, 350, sub-valve block flange, 351, flange parallel guide hole, 352, sub-valve block flared hole, 353, sub-valve block flange hole, 354, sensor lead hole, 355, sensor wire support, 401, spring, 402, positioning pin. Detailed Implementation

[0019] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0020] To achieve the above objectives, the present invention provides the following specific embodiments: Figure 1 , Figure 2 , Figure 3 and Figure 5As shown, a modular rope valve device for a continuous robot, characterized by including a drag chain flange 1, a mother valve block compartment 2, and a daughter valve block compartment 3, wherein the drag chain flange 1 is connected to one end of the mother valve block compartment 2, and the other end of the mother valve block compartment 2 is connected to the daughter valve block compartment 3; the drag chain flange 1 is provided with a flange interface 101, a drag chain flange parallel disc hole 102, an end sensor cable outlet 103, a sensor cable fixing groove 104, and a drag chain flange fixing hole 105; the mother valve block compartment 2 is provided with a mother valve block compartment fixing hole 201 and an external intervention groove 20. 2. Guide rail fixing slot 203 and positioning pin channel 204; drag chain flange 1 and mother valve block compartment 2 are fixedly connected through drag chain flange fixing hole 105 and mother valve block compartment fixing hole 201; the sub-valve block compartment 3 includes sub-valve block 310, sub-valve block compartment inner wall 320, sub-valve block compartment fastening shell 340 and sub-valve block compartment flange 350, the sub-valve block compartment inner wall 320 is set inside the sub-valve block compartment fastening shell 340, the sub-valve block 310 and sub-valve block compartment flange 350 are installed on the sub-valve block compartment inner wall 320, and the flared structure 330 is installed on the sub-valve block compartment flange 350.

[0021] like Figure 5 As shown, the sub-valve block compartment 3 is also provided with a flared structure 330.

[0022] Furthermore, such as Figure 4 and Figure 18 As shown, the flange interface 101 is used to connect an external cable chain, which is a square cable cable chain. The square cable cable chain has up to 16 input ropes. The parallel disc holes 102 of the cable chain flange are evenly arranged 16 times around the central axis of the overall structure of the cable chain flange 1. The 16 input ropes are wrapped with sleeves and pass through the parallel disc holes 102 of the cable chain flange through the sleeve fixing joints. The mother valve block compartment 2 is also provided with a linear guide rail 210. A linear guide rail slider 220 is installed on the linear guide rail 210, and the mother valve block 230 is installed on the linear guide rail slider 220.

[0023] The linear guide rail 210 is installed inside the mother valve block compartment 2 via fasteners and guide rail fastening holes 211. The end of the linear guide rail 210 is inserted into the guide rail fixing slot 203. The linear guide rail slider 220 is provided with a guide rail slider mating groove 221 and a guide rail slider fastening hole 222. The linear guide rail slider 220 is installed on the linear guide rail 210 via the guide rail slider mating groove 221. The linear guide rail slider 220 is provided with a guide rail slider fastening hole 222. The mother valve block 230 is provided with a sensor fixing thread 231, a mother valve block fastening hole 232, a mother valve block slot 233, a mother valve block alignment hole 234, and a lead seal hole 235. The linear guide rail slider 220 and the mother valve block 230 are fixedly connected by fasteners, guide rail slider fastening holes 222, and mother valve block fastening holes 232. The sensor fixing thread 231 is provided with a sensor or fixing component connected to the input rope.

[0024] like Figure 6 and Figure 7 and Figure 8 As shown, the sub-valve block 310 is provided with a sub-valve block positioning pin 311, a sub-valve block rope threading hole 312, and a sub-valve block alignment hole 313; the inner wall 320 of the sub-valve block compartment is provided with a grid plate guide groove 321, an inner wall fastening hole 322, a sub-valve block positioning hole 323, and a sub-valve block compartment inner wall rope guide hole 324; the flared structure 330 is provided with a flared fastening hole 331; the sub-valve block compartment fastening shell 340 is provided with a mounting fastening lug 341 and a spring fixing... The sub-valve block flange 350 is provided with a flange parallel guide hole 351, a sub-valve block flared hole 352, a sub-valve block flange hole 353, a sensor lead hole 354, and a sensor wire support 355; a spring 401 is provided in the spring cavity 343, and a positioning pin 402 is provided in the positioning pin cylinder 345 and the positioning pin hole 346.

[0025] The diameter of the parallel disc hole 102 of the cable chain flange is 3mm. The end sensor cable outlet 103 consists of four equally spaced holes for leading out the sensor cable inside the rope valve. The sensor cable fixing groove 104 is used to fix the sensor cable with fasteners. The cable chain flange fixing hole 105 is used to fasten the cable chain flange 1 to the fixing hole 201 of the mother valve block compartment.

[0026] The linear guide rail 210 is arranged in 16 positions around the central axis of the mother valve block compartment 2, corresponding to the 16 input ropes along the circumference inside the mother valve block compartment 2. The external intervention slot 202 is also arranged in 16 positions around the central axis of the mother valve block compartment 2, with equal spacing along the circumference inside the mother valve block compartment 2. This ensures that a thin rod-shaped object can directly penetrate the interior to push the mother valve block 230, fasten the guide rail, or perform other maintenance operations. The guide rail fixing slot is also arranged in 16 positions around the central axis of the mother valve block compartment 2, with equal spacing between the external intervention slot 202 and the circumference inside the mother valve block compartment 2. This slot is used to fix the linear guide rail 210 through the guide rail fastening hole 211. The positioning pin channel 204 is a groove-shaped channel with a depth of 4mm, used to accommodate the movement of the positioning pin 402 and to cooperate with the positioning pin 402 to fix the sub-valve block compartment 3.

[0027] The slot 233 of the mother valve block is a square slot, used for weight reduction and placement of valve block markings; the alignment hole 234 of the mother valve block is a through hole, and an auxiliary positioning structure is provided around the alignment hole 234 of the mother valve block for use in cooperating with the alignment hole 313 of the daughter valve block to fix the daughter valve block 310; the lead seal hole 235 is a through hole for inserting a lead seal strip during use.

[0028] The sub-valve blocks 310 are distributed in 16 groups at equal intervals along the circumference with the central axis of the inner wall 320 of the sub-valve block compartment as the axis. The sub-valve block positioning pins 311 are two protrusions, which are used to fix the sub-valve blocks 310 to the corresponding positions on the inner wall 320 of the sub-valve block compartment through the sub-valve block positioning holes 323 during installation. The sub-valve block rope holes 312 are a group of two holes of different diameters, which are used to allow the output rope to pass through and be fixed. The sub-valve block alignment hole 313 is a protrusion, and the sub-valve block alignment hole 313 is provided with an auxiliary positioning structure around it, which is used to cooperate with the alignment hole 234 of the mother valve block for fixation during use. The inner wall 320 of the sub-valve block compartment has four equally spaced grooves distributed circumferentially around the central axis of the sub-valve block compartment fastening shell 340. The grid plate guide groove 321 is a concentric narrow groove used to cooperate with the fastening shell grid plate 344 to position the sub-valve block compartment fastening shell 340. The inner wall fastening holes 322 are evenly distributed holes used to cooperate with the sub-valve block compartment flange holes 353 to stagger and fix the sub-valve block compartment flange 350. The sub-valve block positioning holes 323 are two through holes used to cooperate with the sub-valve block positioning pin 11 to position the sub-valve block 310 during installation. The rope guide hole 324 on the inner wall of the sub-valve block compartment is a hole aligned with the valve block rope threading hole 312 to ensure that the output rope passing through the sub-valve block rope threading hole 312 can be output in the correct direction and avoid skewed pulling errors. The flared mouth fastening hole 331 on the flared mouth structure 330 is used to cooperate and fix with the flared mouth hole of the sub-valve block compartment 352; the sub-valve block compartment fastening shell 340 has four equally spaced sub-valve block compartment fastening shells 340 with the central axis of the overall structure as the axis; the mounting fastening ear 341 is a protruding ear-shaped structure on both sides of the sub-valve block compartment fastening shell 340, used to fasten two adjacent sub-valve block compartment fastening shells 340 together; the spring positioning hole 342 is used to screw in the screw to achieve positioning and fixing of the internal spring 401. The spring cavity 343 is used to accommodate the cavity position of the internal spring 401, and two adjacent spring cavities 343 are separated by a fastening shell grid plate 344; the fastening shell grid plate 344 is used to cooperate with the grid plate guide groove 321 to achieve positioning of the valve block compartment fastening shell 340; the positioning pin cylinder 345 is a cylindrical structure with partial threads, used to accommodate and adjust the positioning pin 402; the positioning pin hole 346 is a hole located at the bottom of the positioning pin cylinder 345, used to lead out the positioning pin 402. The sub-valve block compartment flanges 350 are four evenly spaced along the central axis of the overall structure. The flange parallel guide holes 351 are aligned with the rope guide holes 324 on the inner wall of the sub-valve block compartment, ensuring that the output ropes can enter the flared structure 330 without interference. The sub-valve block compartment flared holes 352 are evenly distributed holes used to cooperate with the flared hole fastening holes 331 to fix the flared structure 330. The sub-valve block compartment flange holes 353 are evenly distributed holes used to cooperate with the inner wall fastening holes 322. The inner wall 320 of the sub-valve block compartment is staggered and fixed; the sensor lead hole 354 is a smooth hole with its axis perpendicular to the central axis of the overall structure of the sub-valve block compartment flange 350, which is used to ensure that the sensor wire harness led from the flared structure 330 can leave the overall structure without interfering with the output rope; the sensor wire holder 355 is a structure that does not interfere with the output rope, which is used to ensure that the sensor wire harness led from the flared structure 330 can change direction to be perpendicular to the central axis of the overall structure and can leave from the sensor lead hole 354.

[0029] Furthermore, the two holes of different diameters on the sub-valve block rope hole 312 have a smaller hole radius of 0.3mm, corresponding to a rope array radius of 24mm, and a larger hole radius of 0.6mm, corresponding to a rope array radius of 26mm; the outer diameter of the spring 401 is 9mm, the length is not less than 40mm, the wire diameter of the spring 401 is not less than 0.8mm, the number of turns is not less than 15, and the material hardness is not less than spring steel; the positioning pin 402 is a single-ended threaded rod structure, the outer diameter of the rod-shaped part of the positioning pin 402 does not exceed the inner diameter of the positioning pin hole 346, the positioning pin 402 is provided with a tension thread, the threaded part engages and is fixed with the thread in the positioning pin cylinder 345, and the length extending out of the positioning pin hole 346 is adjusted by fasteners, which, together with the positioning pin 204 channel, realizes the fixation of the sub-valve block chamber 3 during use.

[0030] Furthermore, the input rope and output rope shall meet the requirements of tensile strength not less than 1000MPa and fracture deformation not exceeding 15%.

[0031] Furthermore, the materials selected for the drag chain flange 1, the main valve block compartment 2, and the sub-valve block compartment 3 are designed to meet the following requirements: working temperature -10℃ to 60℃, working humidity 10% to 90%, UV aging strength retention rate not less than 70%, and fatigue performance of moving parts not less than 105 cycles. After 72 hours of continuous spraying in a neutral salt spray test, the corrosion area of ​​the metal parts is less than 5%, the non-metal parts show no obvious appearance changes, and the strength retention is greater than 80%.

[0032] In specific embodiment 1, the described quick-release modular rope valve device for a continuous robot requires, before operation, that the output rope and flared structure in the flexible part of the continuous robot have been designed and that a corresponding cable chain has been fabricated according to the flange interface 101. Figure 9 As shown, align the sub-valve block flange 350 with the sub-valve block flared hole 352, and screw in the corresponding fastener to secure it. Figure 10 As shown, each sub-valve block compartment inner wall 320 and sub-valve block compartment flange 350 are staggered at a 45-degree angle, aligning the sub-valve block compartment flange hole 353 with the inner wall fastening hole 322, and then screwing in the corresponding fasteners for fixation; repeat until a total of 4 sub-valve block compartment inner walls 320 and 4 sub-valve block compartment flanges 350 are installed, forming a complete circle. Figure 11 As shown, align the mounting ears 341 on each valve block compartment fastening shell 340 with each other, and screw in the corresponding fasteners to secure them. Repeat this process until all four valve block compartment fastening shells 340 are installed, forming a complete circle. Figure 12As shown, first screw the corresponding fastener into the spring positioning hole 342, ensuring that the screw in the fastener protrudes a certain length beyond the nut. Then, place the spring 401 into the spring cavity 343 separated by the fastening shell grid plate 344, and insert the protruding screw into the hollow part of the spring to fix the spring. Repeat until all springs 401 are placed into the corresponding spring cavity 343. The number should be determined according to the mechanical performance requirements, selecting one of 8, 16, or 32 as the actual number placed. When placing 8 springs 401, one spring 401 should be placed every 3 spring cavities 343; when placing 16 springs 401, one spring 401 should be placed every other spring cavity 343; when placing 32 springs 401, a spring 401 should be placed in every spring cavity 343. Figure 13 As shown, the installed sub-valve block compartment fastening housing 340 and the inner wall 320 of the sub-valve block compartment (and its connected sub-valve block compartment flange 350 and flared structure 330) are arranged as shown in the diagram, aligning all the fastening housing grid plates 344 with the grid plate guide grooves 321, and slowly inserted along the grid plate guide grooves 321, finally assembling together; at this point, the assembly is loose and requires external force to temporarily hold its position. Figure 14 As shown, screw the locating pin 402 into the locating pin sleeve 345, ensuring that the locating pin 402 protrudes approximately 3-4 mm from the locating pin hole 346, and secure it with the corresponding fastener; repeat until all locating pins 402 are installed. At this point, the assembly is secured by the locating pins, allowing for partial movement. Figure 15 and 16 As shown, the required output rope is sequentially passed through the smaller hole in the flange parallel disc guide hole 351 on the sub-valve block flange 350, the smaller hole in the rope guide hole 324 on the inner wall of the sub-valve block 320, and then through the smaller hole in the sub-valve block rope hole 312 on the sub-valve block 310, and then fixed to the sub-valve block 310 using a device; then the sub-valve block positioning pin 311 on the sub-valve block 310 is inserted into the sub-valve block positioning hole 323, and this process is repeated until all 16 sub-valve blocks 310 and their output ropes are installed in place. Figure 17 As shown, one end of the corresponding sensor or fastener is installed on the sensor fixing thread 231 on the mother valve block 230, and the other end is installed together with the input rope; the input rope enters the cable chain flange 1 from the cable chain, and the input rope with a covered sleeve is fixed on the cable chain flange parallel disc hole 102 on the cable chain flange 1, and the input rope continues to advance until the corresponding sensor or fastener; this is repeated until all 16 input ropes are installed on the mother valve block 230 via the sensor or fastener. Figure 18As shown, align the fastening hole 232 on the female valve block 230 with the fastening hole 222 on the linear guide slider 220, and screw in the corresponding fasteners; align the sliding groove 221 on the linear guide slider 220 with the linear guide 210 and insert it to fix it on the linear guide 210; align all the fastening holes 211 on the linear guide 210 with the guide fixing slots 203 on the female valve block compartment 2, and screw in the corresponding fasteners; repeat until a total of 16 female valve blocks 230 are fixed to the linear guide slider 220, and a total of 16 linear guide sliders 220 are fixed to the linear guide 210, and a total of 16 linear guides 210 are arranged in a circumferentially spaced pattern and fixed inside the female valve block compartment 2. By manipulating the external drive and cooperating with the external intervention slot 202 on the mother valve block 2 compartment, all the mother valve blocks 230 are pushed to the other end of the linear guide 210 away from the drag chain flange 1 and temporarily fixed by external force; at the same time, ensure that all the sub-valve blocks 310 are temporarily fixed in the sub-valve block compartment 3 through the sub-valve block positioning hole 323; at this point, the installation work of the present invention has been completed.

[0033] The following describes the quick-installation method during the use of this invention. For example... Figures 19 to 23 As shown, the drag chain flange 1, the main valve block compartment 2, and the daughter valve block compartment 3 are arranged according to... Figure 19 Arrange the components in the order shown, ensuring the three structures are concentrically aligned and that the locating pin 402 is secure. Figure 19 (Only one unit is assembled for demonstration purposes) Align the positioning pin 204 channel; at this alignment, push the sub-valve block compartment 3 towards the assembly structure formed by the drag chain flange 1 and the mother valve block compartment 2 until the two are completely pressed together under the action of spring force, forming... Figure 20 The assembly structure shown; Figure 22 This indicates the correspondence between the actual movement path of the positioning pin 402 in the positioning pin channel 204 and the aforementioned steps; Figure 23 This indicates that during this process, the position of the sub-valve block 310 changes as the sub-valve block chamber 3 is pushed in, twisted, and springs back. In this change, the sub-valve block 310 is pushed in from a position intersecting with the mother valve block 230. During the pushing process, their positions intersect, preventing conflict. The twisting motion after pushing in makes the mother valve block alignment hole 234 and the sub-valve block alignment hole 313 coaxial. For example... Figure 24 As shown, by manipulating the external drive, the input rope gradually tightens the mother valve block 230. With the alignment holes 234 and 313 of the mother valve block and the daughter valve block aligned as described in the previous steps, the mother valve block 230 and the daughter valve block 310 are tightly fitted together. This completes the quick-assembly process. Afterwards, the external drive can be manipulated to perform predetermined operations on the continuous robot fixed to the flared structure 330.

[0034] Specific embodiment 2 differs from embodiment 1 in that, as follows: Figures 16 to 25As shown, the required output rope is sequentially passed through the larger hole in the flange parallel disc guide hole 351 on the sub-valve block flange 350, the larger hole in the sub-valve block inner wall rope guide hole 324 on the sub-valve block inner wall 320, and then through the larger hole in the sub-valve block rope hole 312 on the sub-valve block 310, and then fixed to the sub-valve block 310 using a device; then the sub-valve block positioning pin 311 on the sub-valve block 310 is inserted into the sub-valve block positioning hole 323, and this process is repeated until all 16 sub-valve blocks 310 and their output ropes are installed in place.

[0035] It should be noted that after completing Example 1, a circular array output with a radius of 22mm can be achieved using a relatively thin rope (0.3mm radius); after completing Example 2, a circular array output with a radius of 24mm can be achieved using a relatively thick rope (0.6mm radius); by performing the above process in reverse order, a quick-release function that divides the whole into two parts can be achieved, thereby demonstrating the advantages of the modular design of this invention.

[0036] This invention employs ropes of varying radii for connection. The initial rope (radius ≥ 1mm), connecting the cable chain and motor drive, is fixed by the cable chain flange and distributed across a circular array with a radius of 36mm. Through the connection and conversion of the female and male valve blocks, a circular array with a radius of 24mm can be output using a relatively thicker rope (0.6mm radius), or a circular array with a radius of 22mm can be output using a relatively thinner rope (0.3mm radius). This allows for a smaller rope array, enabling greater flexibility in the physical input method while still meeting dimensional requirements for the output. This invention allows an external rectangular rope array input via a cable chain to undergo directional conversion through a series of internal components, achieving circular rope array outputs with different radii.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A modular rope valve device for quick-release ropes in a continuum robot, characterized in that, The system includes a cable chain flange, a mother valve block compartment, and a daughter valve block compartment. The cable chain flange is connected to one end of the mother valve block compartment, and the other end of the mother valve block compartment is connected to the daughter valve block compartment. The cable chain flange is provided with a flange interface, a cable chain flange parallel disc hole, an end sensor cable outlet, a sensor cable fixing groove, and a cable chain flange fixing hole. The mother valve block compartment is provided with a mother valve block compartment fixing hole, an external intervention groove, a guide rail fixing groove, and a positioning pin channel. The cable chain flange and the mother valve block compartment are fixedly connected through the cable chain flange fixing hole and the mother valve block compartment fixing hole. The daughter valve block compartment includes a daughter valve block, a daughter valve block compartment inner wall, a daughter valve block compartment fastening shell, and a daughter valve block compartment flange. The daughter valve block compartment inner wall is located inside the daughter valve block compartment fastening shell, and the daughter valve block and daughter valve block compartment flange are installed on the daughter valve block compartment inner wall. A flared structure is installed on the daughter valve block compartment flange.

2. The quick-release modular rope valve device for a continuum robot as described in claim 1, characterized in that, The sub-valve block compartment is also equipped with a flared structure.

3. The quick-release modular rope valve device for a continuum robot as described in claim 1, characterized in that, The flange interface is used to connect an external cable chain, which is a square cable cable chain. The square cable cable chain has up to 16 input ropes. The parallel disc holes of the cable chain flange are evenly arranged circumferentially with the central axis of the cable chain flange as the axis. The 16 input ropes are wrapped with sleeves and pass through the parallel disc holes of the cable chain flange through the sleeve fixing joints. The mother valve block compartment is also equipped with a linear guide rail, and a linear guide rail slider is installed on the linear guide rail. The mother valve block is installed on the linear guide rail slider.

4. The rope quick-release modular rope valve device for a continuum robot as described in claim 3, characterized in that, The linear guide rail is installed inside the mother valve block compartment via fasteners and guide rail fastening holes. The end of the linear guide rail is inserted into the guide rail fixing slot. The linear guide rail slider is provided with a guide rail slider mating slot and a guide rail slider fastening hole. The linear guide rail slider is installed on the linear guide rail via the guide rail slider mating slot. The linear guide rail slider is provided with a guide rail slider fastening hole. The mother valve block is provided with a sensor fixing thread, a mother valve block fastening hole, a mother valve block slot, a mother valve block alignment hole, and a lead seal hole. The linear guide rail slider and the mother valve block are fixedly connected via fasteners, guide rail slider fastening holes, and mother valve block fastening holes. A sensor or fixing component connected to the input rope is provided on the sensor fixing thread.

5. The quick-release modular rope valve device for a continuum robot as described in claim 1, characterized in that, The sub-valve block is provided with a sub-valve block positioning pin, a sub-valve block rope hole, and a sub-valve block alignment hole; the inner wall of the sub-valve block compartment is provided with a grid plate guide groove, an inner wall fastening hole, a sub-valve block positioning hole, and a rope guide hole on the inner wall of the sub-valve block compartment; the flared structure is provided with a flared fastening hole; the sub-valve block compartment fastening shell is provided with a mounting fastening lug, a spring positioning hole, a spring cavity, a fastening shell grid plate, a positioning pin cylinder, and a positioning pin hole; the sub-valve block compartment flange is provided with a flange parallel guide hole, a sub-valve block compartment flared hole, a sub-valve block compartment flange hole, a sensor lead hole, and a sensor wire support; a spring is provided in the spring cavity, and a positioning pin is provided in the positioning pin cylinder and the positioning pin hole.

6. The quick-release modular rope valve device for a continuum robot as described in claim 1, characterized in that, The diameter of the parallel disc hole of the drag chain flange is 3mm. The end sensor cable outlet consists of four equally spaced holes for leading out the sensor cable inside the rope valve. The sensor cable fixing groove is used to fix the sensor cable with fasteners. The drag chain flange fixing hole is used to fasten the drag chain flange to the fixing hole of the mother valve block compartment.

7. The quick-release modular rope valve device for a continuum robot as described in claim 4, characterized in that, The linear guide rails are arranged in 16 positions along the circumference of the mother valve block compartment, corresponding to the 16 input ropes, with the central axis of the mother valve block compartment as the axis. The external intervention slots are also arranged in 16 positions along the circumference of the mother valve block compartment, with equal spacing between them. The guide rail fixing slots are also arranged in 16 positions along the circumference of the mother valve block compartment, with equal spacing between them and the external intervention slots, and are used to fix the linear guide rails through the guide rail fastening holes. The positioning pin channel is a 4mm deep groove-shaped channel used to accommodate the movement of the positioning pin and, in conjunction with the positioning pin, to fix the sub-valve block compartment. The mother valve block has a square slot for weight reduction and placement of valve block markings; the mother valve block alignment hole is a through hole, and an auxiliary positioning structure is provided around the mother valve block alignment hole for fixing the child valve block in use; the lead seal hole is a through hole for inserting a lead seal strip in use.

8. A modular rope valve device for a continuum robot with quick-release mechanism as described in any one of claims 1-7, characterized in that, The sub-valve blocks are distributed in 16 groups at equal intervals along the circumference with the central axis of the inner wall of the sub-valve block compartment as the axis. The sub-valve block positioning pin consists of two protrusions, which are used to fix the sub-valve block to the corresponding position on the inner wall of the sub-valve block compartment through the sub-valve block positioning hole during installation. The sub-valve block rope hole consists of a group of two holes of different diameters, which are used to allow the output rope to pass through and be fixed. The sub-valve block alignment hole consists of a protrusion, and the sub-valve block alignment hole is provided with an auxiliary positioning structure around it, which is used to cooperate with the alignment hole of the mother valve block for fixation during use. The inner wall of the sub-valve block compartment has four equally spaced grooves distributed circumferentially around the central axis of the sub-valve block compartment fastening shell. The grid plate guide groove is a concentric narrow groove used to cooperate with the fastening shell grid plate to position the sub-valve block compartment fastening shell. The inner wall fastening holes are evenly distributed holes used to cooperate with the sub-valve block compartment flange holes to stagger and fix the sub-valve block compartment flange. The sub-valve block positioning holes are two through holes used to cooperate with the sub-valve block positioning pin to position the sub-valve block during installation. The rope guide hole on the inner wall of the sub-valve block compartment is a hole aligned with the valve block rope threading hole to ensure that the output rope passing through the sub-valve block rope threading hole can be output in the correct direction. The flared fastening holes on the flared structure are used to mate and fix with the flared holes of the sub-valve block compartment; the sub-valve block compartment fastening shells are four evenly spaced around the central axis of the overall structure; the mounting fastening ears are protruding ear-like structures on both sides of the sub-valve block compartment fastening shells, used to fasten two adjacent sub-valve block compartment fastening shells together; the spring positioning holes are used to screw in screws to position and fix the internal springs; the spring cavities are used to accommodate the cavity positions of the internal springs, and two adjacent spring cavities are separated by fastening shell grid plates; the fastening shell grid plates are used to cooperate with the grid plate guide grooves to position the sub-valve block compartment fastening shells; the positioning pin cylinder is a partially threaded cylindrical structure used to accommodate and adjust the positioning pin; the positioning pin hole is a hole located at the bottom of the positioning pin cylinder, used to lead out the positioning pin. The sub-valve block chamber flanges are four in number, evenly spaced along the central axis of the overall structure. The parallel guide holes on the flanges are aligned with the rope guide holes on the inner wall of the sub-valve block chamber, ensuring that the output ropes can enter the flared structure without interference. The flared opening holes in the sub-valve block chamber are evenly distributed, used to cooperate with the flared opening fastening holes to fix the flared structure. The flange holes in the sub-valve block chamber are also evenly distributed, used to cooperate with the inner wall fastening holes for staggered fixation to the inner wall of the sub-valve block chamber. The sensor lead hole is a smooth hole with its axis perpendicular to the central axis of the sub-valve block chamber flange structure, ensuring that the sensor cable bundle from the flared structure can leave the overall structure without interfering with the output ropes. The sensor cable holder is a structure that does not interfere with the output ropes, ensuring that the sensor cable bundle from the flared structure can change direction to be perpendicular to the central axis of the overall structure and can leave through the sensor lead hole.

9. The rope quick-release modular rope valve device for a continuum robot as described in claim 8, characterized in that, The positioning pin is a single-ended threaded rod-shaped structure. The outer diameter of the rod-shaped part of the positioning pin does not exceed the inner diameter of the positioning pin hole. The positioning pin is provided with a tension thread, and the threaded part engages with the thread in the positioning pin cylinder for fixation. The length of the pin extending out of the positioning pin hole is adjusted by fasteners, and the positioning pin channel is used to fix the sub-valve block chamber during use.

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