Modular differential rope-driven crawling robot

Abstract

This invention relates to a modular differential rope-driven crawling robot, belonging to the field of robotics technology, and aims to solve the problems of poor motion flexibility, low modularity, and high cost of existing crawling robots. The robot consists of multiple parallel differential rope-driven modules with identical structures, achieving coordinated motion between modules through rigid or flexible connections. Each module includes a rope, a dynamic / static platform, a rope tensioning device, a rope guiding device, a differential winding device, and an unconstrained tension mechanism. Through differential winding technology, two ropes are wound clockwise and counterclockwise around the same winding wheel, and with the elastic adjustment of the unconstrained tension mechanism, three degrees of freedom motion is achieved. The modular design supports rapid assembly and functional expansion, adapting to the crawling needs of complex terrains. This invention combines the advantages of high dynamic response, lightweight design, and low cost, making it suitable for industrial inspection, disaster relief, and other scenarios, significantly improving the robot's adaptability and task execution efficiency in unstructured environments.

Description

Technical Field

[0001] This invention belongs to the field of robotics, specifically relating to a modular differential rope-driven crawling robot. Background Technology

[0002] In modern industry, inspection, rescue, and many other fields, the demand for robots with special mobility capabilities is growing. Especially in complex environments, such as narrow pipes, the interiors of irregular building structures, and post-disaster ruins, traditional robots often cannot effectively perform tasks due to their limited mobility. Crawling robots, with their unique locomotion methods, can adapt to various complex terrains, making them an important research direction for solving these problems.

[0003] Existing crawling robots have several shortcomings. Some robots have complex structures, high manufacturing costs, and are difficult to maintain, hindering large-scale deployment and application. Others have limited mobility and adaptability, making it difficult to achieve efficient crawling and turning in complex and changing environments. Furthermore, most crawling robots lack modular design, preventing rapid assembly and adjustment to meet different task requirements, significantly limiting their application scope. Summary of the Invention

[0004] This invention provides a modular differential rope-driven crawling robot. The technical problem to be solved is to address the problems of poor motion flexibility, low modularity, and high cost of existing crawling robots, so as to achieve efficient and stable crawling in complex environments, while having good reconfigurability and adaptability, and being able to be quickly assembled and adjusted according to different task requirements.

[0005] To solve the above technical problems, the present invention provides a modular differential rope driven crawling robot, characterized in that it includes no less than two differential rope driven parallel modules 100, and all differential rope driven parallel modules 100 have the same structure. The differential rope drive parallel module 100 includes a moving platform 1, a stationary platform 9, a rope 6, a rope tensioning device, a rope guiding device, a differential winding device, and an unrestrained tension mechanism. The rope tensioning device is installed on the moving platform 1 and is used to adjust the preload of the rope 6; The differential winding device is mounted on the stationary platform 9, and each differential winding device winds two ropes 6. The rope 6 is guided by the rope guide device and connected to the rope tensioning device; The unrestrained tension mechanism is disposed between the moving platform 1 and the stationary platform 9 to keep the rope 6 continuously tensioned. Any one of the differential rope driven parallel modules 100 can be rigidly or flexibly connected to the other differential rope driven parallel module 100's moving platform 1 or stationary platform 9 to form a modular differential rope driven crawling robot.

[0006] Beneficial effects: High flexibility and adaptability: Through the design of the differential rope drive mechanism, the crawling robot of this invention can achieve flexible steering and precise motion control, adapting to various complex terrains, such as narrow passages, bends, and undulating ground. In narrow pipes, the robot can achieve small-radius turns through cooperative control, smoothly navigating bends.

[0007] Advantages of modular design: Employing a modular design, the crawling robot described in this invention can be quickly assembled and adjusted according to different task requirements. Users can select different numbers of modular units to combine to meet the requirements of specific environments and tasks. This not only improves the robot's versatility but also reduces manufacturing costs and maintenance difficulty. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the modular differential rope driven crawling robot structure in Example 1; Figure 2 This is a schematic diagram of the differential rope driven parallel module structure in this invention; Figure 3 This is a schematic diagram of the rope tensioning device structure in this invention; Figure 4 This is a schematic diagram of the rope guiding device and differential winding device in this invention; Figure 5 This is a schematic diagram of the unconstrained tension mechanism structure in this invention; In the picture: 100—Differential rope drive parallel module, 1—Moving platform, 2—Hole winding ratchet with hole, 3—Screw, 4—Moving platform cover plate, 5—Short shaft, 6—Rope, 7—Pulley, 8—Pulley seat, 9—Static platform, 10—Bracket, 11—Winding wheel, 12—Drive motor, 13—Ball joint, 14—Spring, 15—Lower support rod, 16—Upper support rod, 17—Universal joint. Detailed Implementation

[0009] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below.

[0010] The present invention proposes a modular differential rope driven crawling robot, comprising no less than two differential rope driven parallel modules 100, all of which have the same structure, and any two differential rope driven parallel modules 100 are rigidly or flexibly connected.

[0011] like Figure 2 As shown, the differential rope drive parallel module 100 includes several ropes 6, a moving platform 1, a stationary platform 9, and a rope tensioning device. Figure 3 ), rope guiding device ( Figure 4 Differential winding device ( Figure 4 ) and unrestrained tension mechanism ( Figure 5 The differential rope driven parallel module moving platform 1 can be rigidly or flexibly connected to another differential rope driven parallel module moving platform 1 or static platform 9.

[0012] The rope tensioning device is integrated into the moving platform and is used to adjust the rope preload. The differential winding device is installed on the stationary platform, with each group of devices winding two ropes clockwise and counterclockwise respectively. The ropes are guided by the rope guide device and connected to the rope tensioning device. An unrestrained tension mechanism is provided between the moving platform and the stationary platform to ensure continuous rope tension. The differential rope-driven parallel module moving platform can be rigidly or flexibly connected to another differential rope-driven parallel module moving platform or stationary platform to form a modular differential rope-driven crawling robot.

[0013] like Figure 3 As shown, the rope tensioning device includes a perforated winding ratchet 2 and a screw 3. The perforated winding ratchet 2 has several evenly distributed circular holes on its outer circumference, and these holes have the same diameter as the screw 3. The upper and lower ends of the perforated winding ratchet 2 are connected to the shaft holes of the moving platform 1 and the moving platform cover plate 4. The screw 3 passes through the circular holes of the perforated winding ratchet 2 and is threadedly connected to the moving platform 1.

[0014] like Figure 4 As shown, the differential winding device includes a drive motor 12 and a winding wheel 11. The drive motor 12 is fixedly connected to the winding wheel 11, and the drive motor 12 is fixedly connected to the stationary platform 9. In this embodiment, there are three sets of differential winding devices.

[0015] like Figure 4 As shown, the rope guiding device includes several pulleys 7, pulley seats 8, and a bracket 10. The pulleys 7 are connected to the pulley seats 8 through shaft holes. In this embodiment, two pulleys 7 are used in one rope guiding device. The lower end of the pulley seat 8 is hollow and is connected to the bracket 10 through a shaft hole. The bracket 10 is fixedly connected to the stationary platform 9. In this embodiment, there are a total of six rope guiding devices, with each pair of rope guiding devices forming a group, symmetrically distributed on both sides of the differential winding device.

[0016] like Figure 5As shown, the unrestrained tension mechanism includes at least two unrestrained branches and several springs 14. Each unrestrained branch includes a ball joint 13, a lower support rod 15, an upper support rod 16, and a universal joint 17. The ball socket of the ball joint 13 is fixedly connected to the stationary platform 9 (or the moving platform 1). The ball head of the ball joint 13 is fixedly connected to one end of the lower support rod 15 (or the upper support rod 16). The other end of the lower support rod 15 is connected to one end of the upper support rod 16 through a shaft hole. The other end of the upper support rod 16 (or the lower support rod 15) is fixedly connected to one end of the universal joint 17. The other end of the universal joint 17 is fixedly connected to the moving platform 1 (or the stationary platform 9). The two ends of any two of the unrestrained branches are fixedly connected, and the springs 14 are always in a stretched state. In this embodiment, the ball socket in the ball joint 13 is fixedly connected to the stationary platform 9, and one end of the universal joint 17 is fixedly connected to the moving platform 1, with a total of three unrestrained branches.

[0017] The rope 6 of this invention is wound in the groove of the winding wheel 11 in a differential winding manner. The differential winding refers to two ropes 6 being wound on the same winding wheel 11 in clockwise and counterclockwise directions, respectively. The two ropes on the same winding wheel pass through pulley seats in the rope guiding device, then around the pulleys and connect to the rope tensioning device on the moving platform. In the rope tensioning device, the rope is guided by a fixed short shaft on the moving platform, and the end of the rope is fixedly connected to the perforated winding ratchet.

[0018] Specifically, the two ropes 6 on the same winding reel 11 pass through the pulley seat 8 in the rope guide device, then around the pulley 7, and continue through the circular hole on the moving platform 1. They then wind around the short shaft 5 and are fixedly connected to the perforated winding ratchet 2. By rotating the perforated winding ratchet 2, the length of the rope 6 is pre-adjusted. Then, the screw 3 passes through the circular hole on the perforated winding ratchet 2 and is threadedly connected to the moving platform to lock the length of the rope 6.

[0019] In this invention, the number of differential rope-driven parallel modules can be selected according to actual needs, and any two differential rope-driven parallel modules can be rigidly or flexibly connected. Each differential rope-driven parallel module contains three differential winding devices, and each differential winding device winds two ropes. Through coordinated control, each differential rope-driven parallel module can achieve three degrees of freedom of motion.

[0020] Each differential rope-driven parallel module contains three differential winding devices, and each differential winding device winds two ropes 6. Through coordinated control, the drive motor 12 in each differential winding device drives the winding wheel 11 to rotate, causing one rope 6 to extend and the other to shorten, thus enabling each differential rope-driven parallel module to achieve three degrees of freedom of movement. Combining two or more differential rope-driven parallel modules can mimic the wriggling of an earthworm, achieving six degrees of freedom, nine degrees of freedom, and other movements, thereby possessing flexible crawling and posture adjustment capabilities. Figure 1 The modular differential rope driven crawling robot embodiment shown has two of the aforementioned differential rope driven parallel modules, enabling six degrees of freedom of motion.

[0021] This invention uses a differential rope driven parallel module as the crawling robot module. Through the design of the differential rope drive mechanism, the traditional rigid mechanical transmission links are reduced, thereby improving the crawling robot's motion flexibility, environmental adaptability, and dynamic response speed.

[0022] The modular design supports rapid assembly and functional expansion, adapting to the crawling requirements of complex terrains (such as pipes and ruins), improving the versatility of the crawling robot, and reducing manufacturing costs and maintenance difficulty. This invention combines the advantages of high dynamic response, lightweight design, and low cost, making it suitable for scenarios such as industrial inspection and disaster relief, significantly improving the robot's adaptability and task execution efficiency in unstructured environments.

[0023] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A modular differential rope-driven crawling robot, characterized in that, It includes no less than two differential rope driven parallel modules (100), and all differential rope driven parallel modules (100) have the same structure; The differential rope drive parallel module (100) includes a moving platform (1), a stationary platform (9), a rope (6), a rope tensioning device, a rope guiding device, a differential winding device, and an unrestrained tension mechanism; The rope tensioning device is installed on the moving platform (1) and is used to adjust the preload of the rope (6); The differential winding device is set on the stationary platform (9), and each differential winding device winds two ropes (6). The rope (6) is guided by the rope guide device and connected to the rope tensioning device; The unrestrained tension mechanism is disposed between the moving platform (1) and the stationary platform (9) to keep the rope (6) continuously tensioned; Any one of the differential rope driven parallel modules (100) has its moving platform (1) rigidly or flexibly connected to the moving platform (1) or static platform (9) of another differential rope driven parallel module (100) to form a modular differential rope driven crawling robot.

2. The modular differential rope-driven crawling robot according to claim 1, characterized in that, The differential winding device includes a drive motor (12) and a winding wheel (11). The drive motor (12) is fixedly connected to the winding wheel (11), and the drive motor (12) is mounted on the static platform (9).

3. The modular differential rope-driven crawling robot according to claim 1, characterized in that, The rope guiding device includes a pulley (7), a pulley seat (8), and a bracket (10); the pulley (7) is connected to the shaft hole of the pulley seat (8), the lower end shaft of the pulley seat (8) is hollow and connected to the shaft hole of the bracket (10), and the bracket (10) is fixedly connected to the stationary platform (9); every two rope guiding devices form a group and are symmetrically distributed on both sides of the differential winding device.

4. The modular differential rope-driven crawling robot according to claim 1, characterized in that, The rope tensioning device includes a perforated winding ratchet (2) and a screw (3); the perforated winding ratchet (2) has multiple circular holes evenly distributed on its outer circumference, and the diameter of the circular holes is the same as the diameter of the screw (3); the two ends of the perforated winding ratchet (2) are respectively connected to the shaft holes of the moving platform (1) and the moving platform cover plate (4); the screw (3) passes through the circular holes and is threadedly connected to the moving platform (1).

5. The modular differential rope-driven crawling robot according to claim 1, characterized in that, The unrestrained tension mechanism includes at least two unrestrained branches and several springs (14); each unrestrained branch includes a ball joint (13), a lower support rod (15), an upper support rod (16), and a universal joint (17); one end of the lower support rod (15) is connected to the stationary platform (9) through the ball joint (13), the other end of the lower support rod (15) is connected to one end of the shaft hole of the upper support rod (16), and the other end of the upper support rod (16) is connected to the moving platform (1) through the universal joint (17); any two unrestrained branches are connected by the springs (14), and the springs (14) are always in a stretched state.

6. The modular differential rope-driven crawling robot according to claim 2, characterized in that, Two ropes (6) on the same winding wheel (11) are wound in the grooves of the winding wheel (11) in a clockwise and counterclockwise direction, respectively, forming differential winding.

7. The modular differential rope-driven crawling robot according to claim 4, characterized in that, The two ropes (6) on the same winding wheel (11) pass through the pulley seat (8) in the rope guide device, go around the pulley (7), then pass through the round hole on the moving platform (1), and then go around the short shaft (5) on the moving platform (1) and finally be fixedly connected to the perforated winding ratchet (2).

8. The modular differential rope-driven crawling robot according to claim 4, characterized in that, The length of the rope (6) can be adjusted by rotating the perforated ratchet (2), and the length of the rope (6) can be locked by threading the screw (3) through the hole to the moving platform (1).

9. The modular differential rope-driven crawling robot according to claim 1, characterized in that, Each of the differential rope-driven parallel modules (100) includes three differential winding devices, each of which winds two ropes (6); through the coordinated drive of the three differential winding devices, each of the differential rope-driven parallel modules (100) can achieve three degrees of freedom motion.

10. The modular differential rope-driven crawling robot according to claim 9, characterized in that, When the static platforms (9) of two differential rope driven parallel modules (100) are fixedly connected to each other, a six-degree-of-freedom crawling robot is formed, which can imitate the wagging gait of an earthworm to crawl and adjust its posture; when three or more differential rope driven parallel modules (100) are connected in sequence, a crawling robot with more degrees of freedom is formed.

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