Multi-stage rope drive tensioning mechanism

Abstract

The application belongs to the technical field of flexible transmission, and provides a multi-stage rope drive tensioning mechanism. The multi-stage rope drive tensioning mechanism comprises a fixed base plate, a drive unit, a drive pulley, an output pulley, a tensioning mechanism, a first-stage drive rope and a second-stage drive rope. The drive unit is connected to the fixed base plate; the drive pulley is located on one side of the fixed base plate and is rotatably connected to the output end of the drive unit; the output pulley is located on the other side of the fixed base plate and is rotatably connected to the fixed base plate; one end of the first-stage drive rope is connected to the drive pulley, and the other end is connected to the tensioning mechanism; one end of the second-stage drive rope is connected to the tensioning mechanism, and the other end is connected to the output pulley, so that the first-stage drive rope and the second-stage drive rope are tensioned through one tensioning mechanism. The multi-stage rope drive tensioning mechanism can realize overall lightweight through modular design and tension multiple-stage speed reduction through a set of tensioning mechanisms, effectively reducing the number of tensioning mechanisms.

Description

Technical Field

[0001] This application relates to the field of flexible transmission technology, specifically to a multi-stage rope-driven tensioning mechanism. Background Technology

[0002] Rope-driven technology, as a flexible transmission solution that simulates the movement of biological tendons, has become a research hotspot in high-end equipment fields such as humanoid robots, collaborative robotic arms, and medical rehabilitation robots due to its core advantages such as lightweight design, high force control compliance, and human-machine safety. Against the backdrop of robotics technology developing towards lightweighting, intelligence, and human-machine collaboration, the transmission system, as the "muscle" of a robot, directly determines its motion accuracy, load capacity, and environmental adaptability. While traditional rigid transmission solutions (such as harmonic reducers and RV reducers) are mature and stable, they suffer from shortcomings such as large end-effector inertia, insufficient motion flexibility, and low human-machine interaction safety, making it difficult to meet the needs of emerging scenarios such as humanoid robots and rehabilitation robots.

[0003] Existing rope-driven solutions distribute the drive unit, tensioning mechanism, rope, pulley system, sensing unit, and control unit in a dispersed manner, making it difficult to meet the requirements for lightweight and miniaturized equipment. Furthermore, existing multi-stage differential solutions require a separate tensioning mechanism for each transmission stage, resulting in redundancy and increased maintenance complexity.

[0004] Therefore, there is an urgent need for a multi-stage rope-driven tensioning mechanism to solve the above problems. Summary of the Invention

[0005] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0006] To address the aforementioned technical issues, this application proposes a multi-stage rope-driven tensioning mechanism that achieves overall lightweighting through modular design and tensions multiple stages of deceleration using a set of tensioning mechanisms, effectively reducing the number of tensioning mechanisms required.

[0007] This application provides a multi-stage rope-driven tensioning mechanism comprising: a fixed base plate, a drive unit, a drive pulley, an output pulley, a tensioning mechanism, a primary drive rope, and a secondary drive rope. The drive unit is connected to the fixed base plate. The drive pulley is located on one side of the fixed base plate and rotatably connected to the output end of the drive unit. The output pulley is located on the other side of the fixed base plate and rotatably connected to the fixed base plate. One end of the primary drive rope is connected to the drive pulley, and the other end is connected to the tensioning mechanism. One end of the secondary drive rope is connected to the tensioning mechanism, and the other end is connected to the output pulley, so that the tensioning of the primary and secondary drive ropes is achieved through a single tensioning mechanism.

[0008] In a preferred embodiment of this application, the tensioning mechanism includes: a first transfer pulley, a second transfer pulley, a third transfer pulley, and a fourth transfer pulley. The first transfer pulley is located on the drive pulley side; the second transfer pulley is located on the output pulley side and connected to the first transfer pulley; the third transfer pulley is located on the drive pulley side and rotatably connected to the fixed base plate; the fourth transfer pulley is located on the output pulley side and connected to the third transfer pulley; wherein the third transfer pulley and the fourth transfer pulley are respectively sleeved on the outer sides of the first transfer pulley and the second transfer pulley and are clearance-fitted with them.

[0009] In a preferred embodiment of this application, the drive pulley has a first ball groove on its upper side and a second ball groove on its lower side, the third transfer pulley has a third ball groove, and the first transfer pulley has a fourth ball groove; the primary drive rope includes: a first drive rope, with a ball head on each side, one ball head of the first drive rope engaging the first ball groove and the other ball head engaging the third ball groove; and a second drive rope, with a ball head on each side, one ball head of the second drive rope engaging the second ball groove and the other ball head engaging the fourth ball groove of the first transfer pulley.

[0010] In a preferred embodiment of this application, the second transfer pulley has a fifth ball groove, the fourth transfer pulley has a sixth ball groove, and the output pulley has a first rectangular groove on its upper side and a second rectangular groove on its lower side. The secondary drive rope includes: a third drive rope, with a ball head on one side and a first fixed terminal on the other side; the ball head on one side of the third drive rope is inserted into the sixth ball groove, and the first fixed terminal on the other side is inserted into the first rectangular groove; and a fourth drive rope, with a ball head on one side and a second fixed terminal on the other side; the ball head on one side of the fourth drive rope is inserted into the fifth ball groove, and the second fixed terminal on the other side is inserted into the second rectangular groove.

[0011] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes: two tensioning nuts; the first fixing terminal sequentially includes a first rectangular locking portion, a first cylindrical fixing portion, and a first screw connecting portion, wherein the first rectangular locking portion is used to lock the end of the third drive rope, the first cylindrical fixing portion is used to press the end of the third drive rope, and the first screw connecting portion is inserted into the first rectangular groove and threadedly connected to one of the tensioning nuts, so as to tension the third drive rope by adjusting the tensioning nut; the second fixing terminal sequentially includes a second rectangular locking portion, a second cylindrical fixing portion, and a second screw connecting portion, wherein the second rectangular locking portion is used to lock the end of the fourth drive rope, the second cylindrical fixing portion is used to press the end of the fourth drive rope, and the second screw connecting portion is inserted into the second rectangular groove and threadedly connected to the other tensioning nut, so as to tension the fourth drive rope by adjusting the tensioning nut.

[0012] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes a set screw, wherein the set screw is disposed on the output pulley and is used to fix the tensioning nut after the third drive rope is tensioned.

[0013] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes an adapter, wherein the driving unit is a motor, and the driving pulley is connected to the output end of the motor via the adapter.

[0014] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes: a bearing and an output fixing member, wherein the output fixing member is connected to the fixed base plate, and the output pulley is rotatably connected to the output fixing member through the bearing.

[0015] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes a bearing cover plate and a bearing pressure plate, wherein the bearing cover plate and the bearing pressure plate are connected to the fixed base plate to limit the axial movement of the output pulley.

[0016] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes an absolute encoder, which comprises a rotor and a stator. The rotor is connected to the bearing cover plate, and the stator is connected to the output pulley to rotate together with the output pulley, thereby recording the rotational position and speed of the output pulley.

[0017] The multi-stage rope-driven tensioning mechanism provided in this application embodiment can achieve the following technical effects: In the multi-stage rope-driven tensioning mechanism of this application, the multi-stage rope-driven mechanism, composed of a drive pulley, intermediate pulley, output pulley, and drive rope, increases the speed ratio, replaces the reducer, and reduces the weight of the entire multi-stage rope-driven tensioning mechanism. Through the combination of speed ratios of the drive pulley, intermediate pulley, and output pulley, along with the multi-stage rope-driven reduction design, efficient torque amplification is achieved to meet load requirements without relying on traditional rigid reducers.

[0018] The multi-stage rope drive mechanism adopts a modular design to solve the problems of large size and weight caused by the dispersion of components.

[0019] An absolute encoder is used to solve the problems of low transmission accuracy and large detection error.

[0020] To address the issues of numerous and redundant tensioning mechanisms, a rigid linkage and closed-loop transmission design using a transfer pulley block is employed. This allows a single tensioning mechanism to simultaneously tension two-stage drive ropes in a single operation, significantly reducing the number of tensioning mechanisms and simplifying the overall structure. Attached Figure Description

[0021] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein: Figure 1 This is a schematic diagram of the structure of a multi-stage rope-driven tensioning mechanism according to an embodiment of this application.

[0022] Figure 2 for Figure 1 A cross-sectional view along the AA direction.

[0023] Figure 3 This is another structural schematic diagram of a multi-stage rope-driven tensioning mechanism according to an embodiment of this application.

[0024] Figure label: 1. Fixed base plate; 111. Motor fixing component; 2. Drive unit; 3. Drive pulley; 4. Output pulley; 5. Tensioning mechanism; 51. First intermediate pulley; 52. Second intermediate pulley; 53. Third intermediate pulley; 54. Fourth intermediate pulley; 6. Primary drive rope; 61. First drive rope; 62. Second drive rope; 7. Secondary drive rope; 71. Third drive rope; 711. First fixing terminal; 7111. First rectangular locking part; 711 2. First cylindrical fixing part; 7113. First screw connecting part; 72. Fourth drive rope; 721. Second fixing terminal; 7211. Second rectangular locking part; 7212. Second cylindrical fixing part; 7213. Second screw connecting part; 8. Tensioning nut; 9. Set screw; 10. Adapter; 11. Output fixing part; 12. Bearing cover plate; 13. Bearing pressure plate; 14. Absolute encoder; 15. Bearing; 16. Transfer bearing cover plate. Detailed Implementation

[0025] Preferred embodiments of this application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0026] It should be noted that in the description of this preferred embodiment, the terms "upper", "lower", "left", "right", "inner", "lateral", "vertical", "longitudinal", etc., indicating the direction or positional relationship, are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0027] Furthermore, in the description of this application, unless otherwise expressly specified and limited, the term "connected" should be interpreted broadly. For example, it can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Although the steps of the auxiliary control method of this application are described in a specific order, this order is not restrictive. Those skilled in the art can perform the steps in different orders without departing from the basic principles of this application.

[0028] like Figure 1-3As shown, an embodiment of this application provides a multi-stage rope-driven tensioning mechanism, which includes a fixed base plate 1, a drive unit 2, a drive pulley 3, an output pulley 4, a tensioning mechanism 5, a primary drive rope 6, and a secondary drive rope 7. The drive unit 2 is connected to the fixed base plate 1. The drive pulley 3 is located on one side of the fixed base plate 1 and is rotatably connected to the output end of the drive unit 2; the output pulley 4 is located on the other side of the fixed base plate 1 and is rotatably connected to the fixed base plate 1. One end of the primary drive rope 6 is connected to the drive pulley 3, and the other end is connected to the tensioning mechanism 5. One end of the secondary drive rope 7 is connected to the tensioning mechanism 5, and the other end is connected to the output pulley 3, so that the primary drive rope 6 and the secondary drive rope 7 are tensioned through a single tensioning mechanism.

[0029] Specifically, the fixed base plate 1 is a cuboid plate structure, providing a foundation for other structures. The drive unit 2 is fixed to the fixed base plate 1 and provides power to the drive pulley 3. That is, the output end of the drive unit 2 is connected to the drive pulley 3. The drive unit 2 can preferably be a motor. Preferably, the motor is located on the lower side of the fixed base plate, the drive pulley 3 is located on the upper side of the fixed base plate 1, and both the motor and the drive pulley 3 are located on the left side of the fixed base plate 1. The motor is fixed to the fixed base plate by the motor fixing member 111. The output pulley 4 is the power output end and is sleeved on the outside of the drive unit 2. The overall structure of the tensioning mechanism 5, the primary drive rope 6, and the secondary drive rope 7 replaces the reducer of the prior art. Using flexible rope as the transmission medium, torque amplification can be achieved without relying on a reducer by setting the speed ratio of the transmission rope pulleys and the number of transmission stages. Preferably, the tensioning mechanism 5 is located on the right side of the fixed base plate 1. The tensioning mechanism 5 is connected to the drive pulley 3 and the output pulley 4 through the primary drive rope 6 and the secondary drive rope 7. Therefore, a single tensioning mechanism can tension multiple stages of deceleration, effectively reducing the number of tensioning mechanisms required. The fixed base plate 1, drive unit 2, drive pulley 3, output pulley 4, tensioning mechanism 5, primary drive rope 6, and secondary drive rope 7 are arranged as described above to achieve modular assembly, resulting in a small size and light weight.

[0030] In a preferred embodiment of this application, the tensioning mechanism 5 includes: a first transfer pulley 51, a second transfer pulley 52, a third transfer pulley 53, and a fourth transfer pulley 54. The first transfer pulley 51 is located on the side of the drive pulley 3; the second transfer pulley 52 is located on the side of the output pulley 4 and is connected to the first transfer pulley 51; the third transfer pulley 53 is located on the side of the drive pulley 3 and is rotatably connected to the fixed base plate 1; the fourth transfer pulley 54 is located on the side of the output pulley 4 and is connected to the third transfer pulley 53 and is rotatably connected to the fixed base plate 1; wherein, the third transfer pulley 53 and the fourth transfer pulley 54 are respectively sleeved on the outside of the first transfer pulley and the second transfer pulley and are clearance-fitted with them.

[0031] Specifically, the first intermediate pulley 51, the second intermediate pulley 52, the third intermediate pulley 53, and the fourth intermediate pulley 54 are the core power transmission and tensioning linkage hubs, simply put, they are the "bridge pulleys" between the primary drive rope 6 and the secondary drive rope 7. They receive the power transmitted from the primary drive rope 6 and then transmit the power to the secondary drive rope 7, and vice versa. They are also key components for achieving the linkage tensioning of the two ropes by a single tensioning mechanism. The first intermediate pulley 51, the second intermediate pulley 52, the third intermediate pulley 53, and the fourth intermediate pulley 54 are preferably located on the right side of the fixed base plate 1. The first intermediate pulley 51 and the second intermediate pulley 52 are located on the upper side of the fixed base plate 1, corresponding to the drive pulley 3. The third intermediate pulley 53 and the fourth intermediate pulley 54 are located on the lower side of the fixed base plate 1, corresponding to the output pulley 4. The third intermediate pulley 53 and the fourth intermediate pulley 54 are in clearance fit with the first intermediate pulley 51 and the second intermediate pulley 52, allowing them to rotate relative to each other. The third transfer pulley 53 is also rotatably connected to the fixed base plate 1 via a bearing 15. The transfer bearing cover plate 16 is connected to the fixed base plate 1 to limit the bearing 15.

[0032] In a preferred embodiment of this application, the drive pulley 3 has a first ball groove on its upper side and a second ball groove on its lower side; the third transfer pulley 53 has a third ball groove; and the first transfer pulley 51 has a fourth ball groove. The primary drive rope 6 includes a first drive rope 61 and a second drive rope 62. A ball head is provided on each side of the first drive rope 61, with one ball head on one side engaging the first ball groove and the other ball head engaging the third ball groove. Similarly, a ball head is provided on each side of the second drive rope 62, with one ball head on one side engaging the second ball groove and the other ball head engaging the fourth ball groove of the first transfer pulley 51.

[0033] The second transfer pulley 52 has a fifth ball groove, the fourth transfer pulley 54 has a sixth ball groove, the output pulley 4 has a first rectangular groove on its upper side and a second rectangular groove on its lower side; the secondary drive rope 7 includes a third drive rope 71 and a fourth drive rope 72. The third drive rope 71 has a ball head on one side and a first fixed terminal 711 on the other side. The ball head on one side of the third drive rope 71 is inserted into the sixth ball groove, and the first fixed terminal on the other side is inserted into the first rectangular groove; the fourth drive rope 72 has a ball head on one side and a second fixed terminal 721 on the other side. The ball head on one side of the fourth drive rope 72 is inserted into the fifth ball groove, and the second fixed terminal 721 on the other side is inserted into the second rectangular groove.

[0034] Specifically, the primary drive rope 6 consists of two independent ropes: a first drive rope 61 and a second drive rope 62. Ball heads are fixed to both ends of the first and second drive ropes 61 and 62, connecting them to the drive pulley 3, the third intermediate pulley 53, and the first intermediate pulley 51. When the drive pulley 3 rotates counterclockwise, the first drive rope 61 is tensioned, causing the third intermediate pulley 53 to rotate counterclockwise. At this time, the fourth intermediate pulley 54, connected to the third intermediate pulley 53, also rotates counterclockwise. The counterclockwise rotation of the fourth intermediate pulley 54 then tensions the third drive rope 71. The output pulley 4 also rotates counterclockwise, thus tensioning the fourth drive rope 72. After the fourth drive rope 72 is tensioned, the second intermediate pulley 52 also rotates counterclockwise. Since the second intermediate pulley 52 is fixedly connected to the first intermediate pulley 51, the first intermediate pulley 51 also rotates counterclockwise, thereby driving the second drive rope 62 to be tensioned, and the whole loop is formed.

[0035] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes two tensioning nuts 8. The first fixed terminal 711 sequentially includes a first rectangular locking part 7111, a first cylindrical fixing part 7112, and a first screw connecting part 7113. The first rectangular locking part 7111 is used to lock the rope end of the third drive rope 71, the first cylindrical fixing part 7112 is used to press the rope end of the third drive rope 71, and the first screw connecting part 7113 is inserted into the first rectangular groove and threadedly connected to one of the tensioning nuts 8, so as to tension the third drive rope 71 by adjusting the tensioning nut 8. The second fixed terminal 721 includes a second rectangular locking part 7211, a second cylindrical fixing part 7212, and a second screw connecting part 7213. The second rectangular locking part 7211 is used to lock the end of the fourth drive rope 72, the second cylindrical fixing part 7212 is used to press the end of the fourth drive rope 72, and the second screw connecting part 7213 is inserted into the second rectangular groove and threaded to another tension nut 8, so as to tension the fourth drive rope 72 by adjusting the tension nut 8.

[0036] Specifically, both the first fixed terminal 711 and the second fixed terminal 721 are irregularly shaped terminals for easy connection and fixation. Before the entire device is started, the primary drive rope 6 and the secondary drive rope 7 can be pre-tensioned by adjusting the tension nut 8. The specific tensioning principle is as follows: Rotating the tension nut pulls the third drive rope 71 axially, gradually tensioning it and causing the fourth intermediate pulley 54 to rotate clockwise. The third intermediate pulley 53 rotates clockwise synchronously with the fourth intermediate pulley 54. The rotation of the fourth intermediate pulley 54 gradually tensions the first drive rope 61, thereby causing the drive pulley 3 to rotate clockwise. Due to the rotation of the drive pulley 3, the second drive rope 62 gradually tensions, causing the first intermediate pulley 51 to rotate clockwise, and the second intermediate pulley 52 rotates clockwise along with the first intermediate pulley 51. The clockwise rotation of the second intermediate pulley 52 gradually tensions the fourth drive rope 72. In this way, the pre-tensioning is completed by adjusting the tension nut 8. The principle of the other tension nut 8 is the same, so I won't go into details.

[0037] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes a set screw 9, which is disposed on the output pulley 4 and is used to fix the tensioning nut after tensioning the third drive rope 71.

[0038] Specifically, the set screw 9 is an auxiliary fastening and limiting component. After adjusting the tension nut 8, the tension nut 8 is temporarily fixed when tensioning is complete to maintain the tension effect.

[0039] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes an adapter 10, wherein the drive unit 2 is a motor, and the drive pulley 3 is connected to the output end of the motor via the adapter 10.

[0040] Specifically, the adapter 10 is a dedicated connection and adaptation component between the drive unit and the drive pulley 3. Its core function is to achieve a rigid and coaxial connection between the output end of the motor and the drive pulley 3, and at the same time complete the gapless transmission of power. It is a key basic component to ensure the accuracy of the first-stage rope drive transmission and the efficiency of torque transmission.

[0041] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes a bearing 15 and an output fixing member 11. The output fixing member 11 is connected to the fixed base plate 1, and the output pulley 4 is rotatably connected to the output fixing member 11 via the bearing 15.

[0042] Specifically, the output fixing member 11 is fixedly connected to the fixed base plate 1 by screws. Its main function is to provide a rotatable fixing for the output pulley 4.

[0043] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes a bearing cover plate 12 and a bearing pressure plate 13, which are connected to the fixed base plate 1 to limit the axial movement of the output pulley 4.

[0044] Specifically, the bearing cover plate 12 and the bearing pressure plate 13 are dedicated limiting and fixing accessories for the output end. Together with the output fixing part 11 and the bearing 15, they jointly realize the full limitation of the axial displacement of the output pulley 4 and the reliable fixing of the bearing. At the same time, they provide the mounting base for the absolute encoder 14 below. They are key auxiliary components to ensure the rotational accuracy and structural stability of the output end. The two complement each other and work together.

[0045] In a preferred embodiment of this application, the multi-stage rope-driven tensioning mechanism further includes an absolute encoder 14, which includes a rotor and a stator. The rotor is connected to the bearing cover plate 12, and the stator is connected to the output pulley 4 to rotate together with the output pulley 4, thereby recording the rotational position and speed of the output pulley 4.

[0046] Specifically, the absolute encoder 14 is the core motion detection and feedback component, responsible for accurately acquiring the real-time rotational position, angle and speed of the output pulley 4, and transmitting the detection signal to the control unit, providing reliable position / speed feedback for the closed-loop precise control of the rope drive module, and is a key sensing component to ensure the motion accuracy and torque control accuracy of the mechanism.

[0047] In the multi-stage rope-driven tensioning mechanism of this application, the multi-stage rope-driven mechanism, composed of a drive pulley, intermediate pulley, output pulley, and drive rope, increases the speed ratio, replaces the reducer, and reduces the weight of the entire multi-stage rope-driven tensioning mechanism. Through the combination of speed ratios of the drive pulley, intermediate pulley, and output pulley, along with the multi-stage rope-driven reduction design, efficient torque amplification is achieved to meet load requirements without relying on traditional rigid reducers.

[0048] The multi-stage rope drive mechanism adopts a modular design to solve the problems of large size and weight caused by the dispersion of components.

[0049] The absolute encoder 14 is used to solve the problems of low transmission accuracy and large detection error.

[0050] To address the issues of numerous and redundant tensioning mechanisms, a rigid linkage and closed-loop transmission design using a transfer pulley block is employed. This allows a single tensioning mechanism to simultaneously tension two-stage drive ropes in a single operation, significantly reducing the number of tensioning mechanisms and simplifying the overall structure.

[0051] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A multi-stage rope-driven tensioning mechanism, characterized in that, include: Fixed base plate; A driving unit is connected to the fixed substrate; A drive pulley is located on one side of the fixed base plate and is rotatably connected to the output end of the drive unit; An output pulley is located on the other side of the fixed base plate and is rotatably connected to the fixed base plate; The system comprises a tensioning mechanism, a primary drive rope, and a secondary drive rope. One end of the primary drive rope is connected to the drive pulley, and the other end is connected to the tensioning mechanism. One end of the secondary drive rope is connected to the tensioning mechanism, and the other end is connected to the output pulley, so that the tensioning of the primary and secondary drive ropes can be achieved through a single tensioning mechanism.

2. The multi-stage rope-driven tensioning mechanism according to claim 1, characterized in that, The tensioning mechanism includes: The first transfer pulley is located on the side of the drive pulley; The second transfer pulley is located on the side of the output pulley and is connected to the first transfer pulley; The third transfer pulley is located on the side of the drive pulley and is rotatably connected to the fixed base plate; A fourth transfer pulley, which is located on the side of the output pulley and connected to the third transfer pulley; The third and fourth transfer pulleys are respectively sleeved on the outside of the first and second transfer pulleys and are fitted with a clearance fit.

3. The multi-stage rope-driven tensioning mechanism according to claim 2, characterized in that, The drive pulley has a first ball groove on its upper side and a second ball groove on its lower side; the third transfer pulley has a third ball groove; and the first transfer pulley has a fourth ball groove; the primary drive rope includes: A first drive rope, with a ball head on each side of the first drive rope, the ball head on one side of the first drive rope being inserted into the first ball groove, and the ball head on the other side being inserted into the third ball groove; The second drive rope has a ball head on each side. One ball head of the second drive rope is inserted into the second ball groove, and the other ball head is inserted into the fourth ball groove of the first transfer pulley.

4. The multi-stage rope-driven tensioning mechanism according to claim 3, characterized in that, The second transfer pulley has a fifth ball groove, the fourth transfer pulley has a sixth ball groove, the output pulley has a first rectangular groove on its upper side and a second rectangular groove on its lower side; the secondary drive rope includes: The third drive rope has a ball head on one side and a first fixed terminal on the other side. The ball head on one side of the third drive rope is inserted into the sixth ball groove, and the first fixed terminal on the other side is inserted into the first rectangular groove. The fourth drive rope has a ball head on one side and a second fixed terminal on the other side. The ball head on one side of the fourth drive rope is inserted into the fifth ball groove, and the second fixed terminal on the other side is inserted into the second rectangular groove.

5. The multi-stage rope-driven tensioning mechanism according to claim 4, characterized in that, Also includes: Two tension nuts, The first fixed terminal includes a first rectangular locking part, a first cylindrical fixing part, and a first screw connecting part in sequence. The first rectangular locking part is used to lock the end of the third drive rope, the first cylindrical fixing part is used to press the end of the third drive rope, and the first screw connecting part is inserted into the first rectangular groove to thread one of the tension nuts so as to tension the third drive rope by adjusting the tension nuts. The second fixed terminal includes a second rectangular locking part, a second cylindrical fixing part, and a second screw connecting part in sequence. The second rectangular locking part is used to lock the rope end of the fourth drive rope, the second cylindrical fixing part is used to press the rope end of the fourth drive rope, and the second screw connecting part is inserted into the second rectangular groove to thread another tension nut so as to tension the fourth drive rope by adjusting the tension nut.

6. The multi-stage rope-driven tensioning mechanism according to claim 5, characterized in that, Also includes: A set screw, wherein the set screw is disposed on the output pulley and is used to fix the tension nut after the third drive rope is tensioned.

7. The multi-stage rope-driven tensioning mechanism according to any one of claims 1-6, characterized in that, Also includes: The adapter is used to connect the drive unit, which is a motor, and the drive pulley is connected to the output end of the motor via the adapter.

8. The multi-stage rope-driven tensioning mechanism according to claim 7, characterized in that, Also includes: The bearing and the output fixing component are connected to the fixed base plate, and the output pulley is rotatably connected to the output fixing component through the bearing.

9. The multi-stage rope-driven tensioning mechanism according to claim 8, characterized in that, Also includes: A bearing cover plate and a bearing pressure plate are connected to the fixed base plate to limit the axial movement of the output pulley.

10. The multi-stage rope-driven tensioning mechanism according to claim 9, characterized in that, Also includes: An absolute encoder, comprising a rotor and a stator, wherein the rotor is connected to the bearing cover plate and the stator is connected to the output pulley to rotate together with the output pulley, thereby recording the rotational position and speed of the output pulley.

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