A rope-driven continuum robot drive system

Abstract

The application discloses a rope-driven continuum robot driving system, which comprises a rope releasing mechanism, a rope pre-tightening module and a driving rope, wherein the rope releasing mechanism comprises a rack, a horizontal moving assembly is installed on the rack, and a mounting seat is installed on the horizontal moving assembly; the rope pre-tightening module is installed on the mounting seat; the tension monitoring module is installed on the mounting seat, one end of the driving rope is fixed on the tension monitoring module, and the other end of the driving rope passes through the rope pre-tightening module and is fixed on the rope-driven continuum robot. The mounting seat is controlled to move in the horizontal direction through the horizontal moving assembly, the driving rope is retracted and released, the rope pre-tightening module provides pre-tightening force for the driving rope during the retraction and release of the driving rope, the pre-tightening force is greater when the rope releasing stroke is greater, the driving rope can be kept in close contact with the rope pre-tightening module at all times, and the generation of the tensile virtual position phenomenon is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of robotic equipment technology, and in particular to a rope-driven continuum robot drive system. Background Technology

[0002] The drive system is a core component of a continuum robot, serving as the hardware foundation for its high flexibility and functionality. By controlling the bending of each joint segment, the drive system enables the continuum robot to adapt to different shapes and postures to complete specific tasks. Existing drive methods for continuum robots include: fluid drive, SMA shape memory alloy drive, magnetic drive, and rope drive.

[0003] Rope drive is the mainstream drive method for current continuum robots. Rope drive can separate the actuator from the heavier drive mechanism, thereby increasing the load on the robot actuator, reducing the inertia of the end effector, and improving dynamic response performance. At the same time, the distribution of rope drive can be flexibly set, occupying less geometric space, making it suitable for occasions with limited space and a large number of degrees of freedom.

[0004] Existing rope-driven structures lack a pre-tensioning mechanism, resulting in pulling malfunctions when the drive rope is pulled, increasing control difficulty. Furthermore, due to the nonlinear behavior of the drive rope, such as the transition between slack and taut states, it is difficult to establish an accurate dynamic model for rope-driven systems. Based on this, the present invention provides a rope-driven continuum robot drive system. Summary of the Invention

[0005] The purpose of this invention is to provide a rope-driven continuum robot drive system to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides a rope-driven continuum robot drive system, comprising:

[0007] A rope release mechanism, the rope release mechanism including a frame, a horizontal moving component mounted on the frame, and a mounting base mounted on the horizontal moving component;

[0008] A rope pretensioning module, wherein the rope pretensioning module is mounted on the mounting base;

[0009] A drive rope is provided, and a tension monitoring module is installed on the mounting base. One end of the drive rope is fixed to the tension monitoring module, and the other end of the drive rope passes through the rope pretensioning module and is fixed to the rope-driven continuous robot.

[0010] The rope pretensioning module is used to provide pretension force to the drive rope.

[0011] According to the rope-driven continuous robot drive system provided by the present invention, the horizontal movement component includes a fixed frame fixedly connected to the frame, a servo motor fixedly connected to the fixed frame, a lead screw fixedly connected to the output shaft of the servo motor, a first bearing seat and a second bearing seat fixedly connected to the frame, the two ends of the lead screw being rotatably connected to the first bearing seat and the second bearing seat respectively, a slide rail fixedly connected between the first bearing seat and the second bearing seat, a slider slidably connected to the slide rail, a nut seat fixedly connected to the top end of the slider, the nut seat being threadedly connected to the lead screw, and a mounting base fixedly connected to the top end of the nut seat.

[0012] According to the rope-driven continuous robot drive system provided by the present invention, the rope pretensioning module includes a guide pulley, a support plate is symmetrically and fixedly connected to the top surface of the mounting base, a steering linkage is rotatably connected to the two support plates respectively, a mounting shaft is fixedly connected to the center position of the guide pulley, the two ends of the mounting shaft are rotatably connected to the two steering linkages respectively, a pretensioning component is mounted on the first bearing seat, the pretensioning component is rotatably connected to the mounting shaft, and the movable end of the drive rope passes through the guide pulley and is fixed to the rope-driven continuous robot.

[0013] According to the rope-driven continuous robot drive system provided by the present invention, the pre-tensioning component includes a fixed seat fixedly connected to the first bearing seat, an elastic rope fixedly connected to the fixed seat, a connector rotatably connected to the mounting shaft, and one end of the elastic rope fixedly connected to the connector.

[0014] According to the rope-driven continuum robot drive system provided by the present invention, the support plate and the steering link, and the steering link and the mounting shaft are respectively rotatably connected by pin shafts.

[0015] According to the rope-driven continuous robot drive system provided by the present invention, the tension monitoring module includes a force sensor fixedly connected to the mounting base, and the fixed end of the drive rope is fixed to the force sensor by a fastener.

[0016] According to the rope-driven continuous robot drive system provided by the present invention, the output shaft of the servo motor and the lead screw are fixedly connected by a coupling.

[0017] According to the rope-driven continuous robot drive system provided by the present invention, a connecting plate is fixedly connected to the top of the slider, a connecting flange is fixedly connected to the side of the nut seat, the connecting flange and the nut seat are detachably connected by bolts, and the nut seat is fixedly connected to the slider through the connecting plate.

[0018] The present invention discloses the following technical effects:

[0019] This invention controls the mounting base to move horizontally via a horizontal moving component, thereby enabling the retraction and extension of the drive rope. During the retraction and extension of the drive rope, the rope pretensioning module provides pretension force to the drive rope, and the greater the rope release stroke, the greater the pretension force, which ensures that the drive rope always remains in close contact with the rope pretensioning module, effectively reducing the occurrence of tension play. Attached Figure Description

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

[0021] Figure 1 This is a schematic diagram of the structure of the rope-driven continuum robot drive system of the present invention;

[0022] Figure 2 This is a schematic diagram showing the fit between the fixing frame and the connecting shaft of the present invention;

[0023] Figure 3 This is a schematic diagram of the rope pretensioning module of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the horizontal moving component of the present invention.

[0025] The components are as follows: 1. Servo motor; 2. Fixing frame; 3. Coupling; 4. Fixing base; 5. Elastic rope; 6. Guide pulley; 7. Drive rope; 8. Force sensor; 9. Mounting base; 10. Second bearing seat; 11. Lead screw; 12. Slide rail; 13. Slider; 14. Nut seat; 15. Steering linkage; 16. Connecting plate; 17. First bearing seat; 18. Output shaft; 19. Connecting piece; 20. Pin shaft; 21. Fixing piece; 22. Support plate; 23. Connecting flange; 24. Connecting plate. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Reference Figure 1-4 The present invention provides a rope-driven continuum robot drive system comprising:

[0029] A rope release mechanism, comprising a frame, on which a horizontal moving component is mounted, and on which a mounting base 9 is mounted;

[0030] Rope pretensioning module, which is mounted on mounting base 9;

[0031] The drive rope 7 is mounted on the mounting base 9, and a tension monitoring module is installed on the mounting base 9. One end of the drive rope 7 is fixed on the tension monitoring module, and the other end of the drive rope 7 passes through the rope pretensioning module and is fixed to the rope-driven continuum robot.

[0032] The rope pretensioning module is used to provide pretension force for the drive rope 7.

[0033] This invention controls the mounting base 9 to move horizontally via a horizontal moving component, thereby enabling the retraction and extension of the drive rope 7. During the retraction and extension of the drive rope 7, the rope pretensioning module provides pretension force to the drive rope 7. The greater the rope release stroke, the greater the pretension force, ensuring that the drive rope 7 remains in close contact with the rope pretensioning module, effectively reducing the occurrence of tension misalignment.

[0034] Further optimization of the scheme: the horizontal moving component includes a fixed frame 2 fixedly connected to the frame, a servo motor 1 fixedly connected to the fixed frame 2, a lead screw 11 fixedly connected to the output shaft 18 of the servo motor 1, a first bearing seat 17 and a second bearing seat 10 fixedly connected to the frame, the two ends of the lead screw 11 being rotatably connected to the first bearing seat 17 and the second bearing seat 10 respectively, a slide rail 12 fixedly connected between the first bearing seat 17 and the second bearing seat 10, a slider 13 slidably connected to the slide rail 12, a nut seat 14 fixedly connected to the top of the slider 13, the nut seat 14 being threadedly connected to the lead screw 11, and a mounting base 9 fixedly connected to the top of the nut seat 14.

[0035] The servo motor 1 drives the lead screw 11 to rotate, and the rotation of the lead screw 11 causes the nut seat 14 to slide along the slide rail 12, thereby realizing the winding and unwinding of the drive rope 7.

[0036] The scheme is further optimized. The rope pretensioning module includes a guide pulley 6, a support plate 22 is symmetrically and fixedly connected to the top surface of the mounting base 9, and a steering linkage 15 is rotatably connected to the two support plates 22 respectively. A mounting shaft is fixedly connected to the center position of the guide pulley, and the two ends of the mounting shaft are rotatably connected to the two steering linkages 15 respectively. A pretensioning component is installed on the first bearing seat 17. The pretensioning component is rotatably connected to the mounting shaft. The movable end of the drive rope 7 passes through the guide pulley 6 and is fixed to the rope-driven continuous robot.

[0037] The scheme is further optimized. The pre-tightening component includes a fixed seat 4 fixedly connected to the first bearing seat 17, an elastic rope 5 fixedly connected to the fixed seat 4, a connector 19 rotatably connected to the mounting shaft, and one end of the elastic rope 5 fixedly connected to the connector 19.

[0038] The mounting base 9 slides along the slide rail 12 via the nut seat 14. When the mounting base 9 moves away from the fixed base 4, the drive rope 7 pulls the guide pulley 6. The tension of the elastic rope 5 and the drive rope 7 form a counterforce, causing the elastic rope 5 to deform. In this way, the elastic rope 5 can still provide preload when the rope is released, and the greater the rope release stroke, the greater the tension stroke of the elastic rope 5, ensuring that the drive rope 7 is always in close contact with the guide pulley 6, effectively reducing the occurrence of tension play. The steering linkage 15 can convert the huge separation tension generated between the mounting base 9 and the support plate 22 when the drive rope 7 is tightened into a compressive force, reducing the bending moment and extending the service life of the connection between the mounting base 9 and the support plate 22.

[0039] The design is further optimized so that the support plate 22 and the steering linkage 15, and the steering linkage 15 and the mounting shaft are rotatably connected by the pin shaft 20.

[0040] To further optimize the design, the tension monitoring module includes a force sensor 8 fixedly connected to the mounting base 9, and the fixed end of the drive rope 7 is fixed to the force sensor 8 via a fastener 21. The tension status of the drive rope 7 can be read in real time by adjusting the force sensor 8.

[0041] In a further optimized design, the output shaft 18 of the servo motor 1 is fixedly connected to the lead screw 11 via a coupling 3.

[0042] In a further optimized design, a connecting plate 24 is fixedly connected to the top of the slider 13, and a connecting flange 23 is fixedly connected to the side of the nut seat 14. The connecting flange 23 and the nut seat 14 are detachably connected by bolts, and the nut seat 14 is fixedly connected to the slider 13 through the connecting plate 24.

[0043] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0044] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A cable-driven continuum robot drive system, characterized in that, include: A rope release mechanism, the rope release mechanism including a frame, a horizontal moving component mounted on the frame, and a mounting base (9) mounted on the horizontal moving component; A rope pretensioning module is mounted on the mounting base (9); A drive rope (7) is provided, and a tension monitoring module is installed on the mounting base (9). One end of the drive rope (7) is fixed on the tension monitoring module, and the other end of the drive rope (7) passes through the rope pretensioning module and is fixed to the rope-driven continuum robot. The rope pretensioning module is used to provide pretension force to the drive rope (7).

2. The cable-driven continuum robot drive system according to claim 1, characterized in that: The horizontal moving assembly includes a fixed frame (2) fixedly connected to the frame, a servo motor (1) fixedly connected to the fixed frame (2), a lead screw (11) fixedly connected to the output shaft (18) of the servo motor (1), a first bearing seat (17) and a second bearing seat (10) fixedly connected to the frame, the two ends of the lead screw (11) being rotatably connected to the first bearing seat (17) and the second bearing seat (10) respectively, a slide rail (12) fixedly connected between the first bearing seat (17) and the second bearing shaft, a slider (13) slidably connected to the slide rail (12), a nut seat (14) fixedly connected to the top of the slider (13), the nut seat (14) being threadedly connected to the lead screw (11), and a mounting base (9) fixedly connected to the top of the nut seat (14).

3. The cable-driven continuum robot drive system according to claim 1, characterized in that: The rope pretensioning module includes a guide pulley (6), a support plate (22) is symmetrically fixedly connected to the top surface of the mounting base (9), a steering linkage (15) is rotatably connected to the two support plates (22), an mounting shaft is fixedly connected to the center of the guide pulley, and the two ends of the mounting shaft are rotatably connected to the two steering linkages (15) respectively. A pretensioning component is installed on the first bearing seat (17), and the pretensioning component is rotatably connected to the mounting shaft. The movable end of the drive rope (7) passes through the guide pulley (6) and is fixed to the rope-driven continuum robot.

4. The cable-driven continuum robot drive system according to claim 3, characterized in that: The pre-tightening assembly includes a fixed seat (4) fixedly connected to the first bearing seat (17), an elastic rope (5) fixedly connected to the fixed seat (4), a connector (19) rotatably connected to the mounting shaft, and one end of the elastic rope (5) fixedly connected to the connector (19).

5. The cable-driven continuum robot drive system according to claim 3, characterized in that: The support plate (22) and the steering linkage (15), and the steering linkage (15) and the mounting shaft are respectively rotatably connected by a pin shaft (20).

6. The cable-driven continuum robot drive system according to claim 1, characterized in that: The tension monitoring module includes a force sensor (8) fixedly connected to the mounting base (9), and the fixed end of the drive rope (7) is fixed to the force sensor (8) by a fastener (21).

7. The cable-driven continuum robot drive system according to claim 2, characterized in that: The output shaft (18) of the servo motor (1) is fixedly connected to the lead screw (11) via a coupling (3).

8. The cable-driven continuum robot drive system according to claim 2, characterized in that: A connecting plate (24) is fixedly connected to the top of the slider (13), and a connecting flange (23) is fixedly connected to the side of the nut seat (14). The connecting flange (23) and the nut seat (14) are detachably connected by bolts. The nut seat (14) is fixedly connected to the slider (13) through the connecting plate (24).

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