Driving rope test platform

Abstract

The utility model relates to a driving rope test platform which comprises a support, a first sliding assembly, a tensile machine and a second sliding assembly. The first sliding assembly is arranged on the support and can slide in the first direction. And the tensile machine is fixed on the bracket. The second sliding assembly is arranged on the support in a sliding mode in the first direction, the first sliding assembly and the tensile machine are located on the same side of the second sliding assembly in the second direction, and a first pulley is arranged on the second sliding assembly and used for winding a driving rope. When the first sliding assembly drives the other end of the driving rope to move on the support in the first direction, the distance between the two ends of the driving rope can be changed, then the second sliding assembly is adjusted, the second sliding assembly drives the first pulley to move so that the driving rope can present a preset wrap angle, and at the moment, the first sliding assembly and the second sliding assembly are fixed; therefore, the performance of the driving rope under the wrap angle can be tested.

Description

Technical Field

[0001] The present application relates to the technical field of medical device testing equipment, and in particular to a drive rope testing platform. Background Art

[0002] The instruments used in surgical robots generally require the use of drive ropes as transmission elements. The drive ropes are used to transmit the proximal motion force to the distal end effector. In order to achieve various actions of the end effector, such as clamping, suturing, knotting, etc., multiple drive ropes are required for traction, and the multiple drive ropes need to be guided by multiple pulleys. According to the actual design, the wrapping angle of the drive rope on the pulley is diversified.

[0003] In the related art, the driving rope test device can only realize simple testing of the driving rope, such as fixing one end of the driving rope and pulling the other end through a tensile machine to test the performance of the driving rope. However, the driving rope test device cannot adjust the wrap angle of the driving rope on the pulley, so it cannot perform performance testing on the driving rope at different wrap angles. Summary of the invention

[0004] Based on this, it is necessary to provide a driving rope test platform to address the problem that the driving rope test platform in the related art cannot test driving ropes with different wrap angles.

[0005] A driving rope test platform, the driving rope test platform comprising:

[0006] Bracket;

[0007] A first sliding assembly, disposed on the bracket and capable of sliding along a first direction;

[0008] A tensile testing machine, fixed on the bracket;

[0009] A second sliding component is slidably arranged on the bracket along the first direction, the first sliding component and the tensile testing machine are both located on the same side of the second sliding component along the second direction, the second sliding component is provided with a first pulley, the first pulley is used to wind the driving rope, the tensile testing machine is used to be connected to one end of the driving rope, and the first sliding component is used to be connected to the other end of the driving rope.

[0010] In one embodiment, the first sliding assembly includes a first sliding rod and a slider slidably mounted on the first sliding rod, the first sliding rod is arranged on the bracket along a first direction, and the slider is used to be connected to the other end of the driving rope.

[0011] In one embodiment, there are multiple sliders, and the multiple sliders are arranged in sequence along the length direction of the first slide bar, and each of the sliders is respectively provided with a second pulley.

[0012] In one embodiment, the plurality of sliders include a first group of sliders, each second pulley in the first group of sliders is at the same distance from the first slide bar, and the first pulley is disposed between two adjacent second pulleys;

[0013] And / or, the plurality of sliders include a second group of sliders, and each second pulley in the second group of sliders is at a different distance from the first slide bar.

[0014] In one of the embodiments, the bracket includes a base and a second sliding rod disposed on the base along a second direction, and two ends of the first sliding rod are respectively slidably mounted on the second sliding rod.

[0015] In one embodiment, the first sliding bar is provided with a scale.

[0016] In one embodiment, the drive rope test platform includes a towing assembly and a tension sensor, the towing assembly includes a motor and a coupling, the motor is arranged on the bracket, the coupling connects the motor to the first pulley, and the tension sensor is used to be arranged on the drive rope.

[0017] In one of the embodiments, a slide rail is disposed on the bracket, the second sliding assembly includes a support platform, the support platform is slidably connected to the slide rail, and the first pulley is disposed on the support platform.

[0018] In one of the embodiments, the second sliding assembly includes a support member, the first pulley is arranged on the support member, and the support member is movably arranged on the support platform along the third direction; or the support member is rotatably connected to the support platform around the second direction.

[0019] In one embodiment, the driving rope test platform includes weights, and the tensile machine and the weights are respectively arranged at two ends of the driving rope.

[0020] In the above-mentioned driving rope test platform, the first sliding component and the tensile machine are both located on the same side of the second sliding component along the second direction, that is, after the driving rope is wound around the first pulley, one end of the driving rope can be connected to the tensile machine, and the other end can be connected to the first sliding component. Among them, one end of the driving rope is connected to the tensile machine and the position is fixed. When the first sliding component drives the other end of the driving rope to move on the frame along the first direction, the distance between the two ends of the driving rope can be changed. Then, by adjusting the second sliding component, the second sliding component drives the first pulley to move so that the driving rope presents a preset wrap angle. At this time, the second sliding component is fixed to test the performance of the driving rope at this wrap angle. That is, the present application can adjust the wrap angle of the driving rope on the pulley, so as to realize the performance test of the driving rope at different wrap angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG. 1 is a schematic structural diagram of a driving rope test platform in one embodiment.

[0022] FIG. 2 is a schematic plan view of a driving rope test platform in another embodiment.

[0023] FIG. 3 is a schematic structural diagram of the driving rope test platform in FIG. 2 .

[0024] Reference numerals: 100, bracket; 110, base; 120, second slide bar; 130, slide rail;

[0025] 200, first sliding assembly; 210, first sliding rod; 220, slider; 221, first group of sliders; 222, second group of sliders; 230, second pulley;

[0026] 300, tensile testing machine; 310, weights; 320, tensile force sensor;

[0027] 400, second sliding assembly; 410, first pulley; 420, support platform; 430, support member;

[0028] 500, towing assembly; 510, motor; 520, coupling;

[0029] 600. Driving rope. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0031] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0032] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0033] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0034] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0035] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0036] Referring to Fig. 1 and Fig. 2, a driving rope test platform provided in one embodiment of the present application includes a bracket 100, a first sliding assembly 200, a tensile machine 300 and a second sliding assembly 400. The first sliding assembly 200 is arranged on the bracket 100 and can slide along the first direction OX. The tensile machine 300 is fixed on the bracket 100. The second sliding assembly 400 is slidingly arranged on the bracket 100 along the first direction OX, the first sliding assembly 200 and the tensile machine 300 are both located on the same side of the second sliding assembly 400 along the second direction OZ, and the second sliding assembly 400 is provided with a first pulley 410, and the first pulley 410 is used to wind the driving rope 600, so that one end of the driving rope 600 is connected to the tensile machine 300, and the other end is connected to the first sliding assembly 200.

[0037] In this embodiment, the first sliding assembly 200 and the tensile machine 300 are both located on the same side of the second sliding assembly 400 along the second direction OZ, that is, after the driving rope 600 is wound around the first pulley 410, one end of the driving rope 600 can be connected to the tensile machine 300, and the other end can be connected to the first sliding assembly 200. Among them, one end of the driving rope 600 is connected to the tensile machine 300 and the position is fixed. When the first sliding assembly 200 drives the other end of the driving rope 600 to move on the bracket 100 along the first direction OX, the distance between the two ends of the driving rope 600 can be changed. Then, by adjusting the second sliding assembly 400, the second sliding assembly 400 drives the first pulley 410 to move, so that the driving rope 600 presents a preset wrap angle. At this time, the first sliding assembly 200 and the second sliding assembly 400 are fixed, and the performance of the driving rope 600 under this wrap angle can be tested. That is, the present application can adjust the wrap angle of the driving rope 600 on the pulley, so as to realize the performance test of the driving rope 600 at different wrap angles.

[0038] The tensile machine 300 may be a hydraulic cylinder with stroke detection and speed control, or a stroke control device composed of a servo motor 510 and a lead screw, and its stroke and speed are adjustable. The first direction OX is set at an angle to the second direction OZ. Specifically, the first direction OX is perpendicular to the second direction OZ, and the second direction OZ may be a height direction.

[0039] In some embodiments, the first sliding assembly 200 includes a first sliding rod 210 and a slider 220 slidably mounted on the first sliding rod 210 . The first sliding rod 210 is disposed on the bracket 100 along the first direction OX, and the slider 220 is used to connect to the other end of the driving rope 600 .

[0040] In this embodiment, the slider 220 is firstly sleeved on the first slide bar 210, and then the two ends of the first slide bar 210 along the first direction OX are respectively connected to the bracket 100, so that the slider 220 can drive the other end of the driving rope 600 to slide along the first direction OX, and the structure is simple. In addition, a locking mechanism can be provided on the slider 220, and when the slider 220 slides to a desired position, the slider 220 is locked by the locking device.

[0041] In some other embodiments, the first sliding assembly includes a linear module and a slider slidably disposed on the first linear module.

[0042] Further, in combination with FIG. 2 and FIG. 3 , there are multiple sliders 220 , and the multiple sliders 220 are sequentially arranged along the length direction of the first slide bar 210 , and each slider 220 is respectively provided with a second pulley 230 .

[0043] In actual use, the drive rope 600 can be passed through the second pulley 230 and the first pulley 410, wherein the first pulley 410 is arranged between any two second pulleys 230, so that by moving the slider 220 and the second sliding assembly 400, different wrap angles can be presented at different positions of the drive rope 600.

[0044] In some embodiments, the plurality of sliders 220 include a first group of sliders 221 and a second group of sliders 222. Each second pulley 230 in the first group of sliders 221 is at the same distance from the first slide bar 210, and a first pulley 410 is disposed between two adjacent second pulleys 230. Each second pulley 230 in the second group of sliders 222 is at a different distance from the first slide bar 210.

[0045] In this embodiment, a weight 310 is hung on one end of the driving rope 600, and the other end first alternately passes through the second pulley 230 and the first pulley 410 on the first group of sliders 221, and then passes through the first pulley 410 on the second group of sliders 222 in sequence, and finally connects to the tensile machine 300. Since there is a height difference between the first pulley 410 and the second pulley 230, and both the first pulley 410 and the second pulley 230 can be moved along the first direction OX, the wrap angle of the driving rope 600 on the second pulley 230 on the first group of sliders 221 and the wrap angle of the driving rope 600 on the first pulley 410 can be changed. At the same time, each second pulley 230 in the second group of sliders 222 is at a different distance from the first slide bar 210, so when the second pulley 230 is moved along the first direction OX, the driving rope 600 and the second pulley 230 on the second sliding assembly 400 can have different wrap angles. That is, the adjustment method of the wrap angle is flexible and variable, and can be flexibly adjusted according to actual needs.

[0046] In some other embodiments, the plurality of sliders 220 include a first group of sliders 221, and a first pulley 410 is disposed between two adjacent second pulleys 230. When in use, a weight 310 is hung on one end of the drive rope 600, and the other end alternately passes through the second pulley 230 and the first pulley 410 on the first group of sliders 221, and is finally connected to the tensile machine 300. When the first pulley 410 and the second pulley 230 move along the first direction OX, the wrap angle of the drive rope 600 on the second pulley 230 on the first group of sliders 221 and the wrap angle of the drive rope 600 on the first pulley 410 can be changed.

[0047] In other embodiments, the plurality of sliders 220 include a second group of sliders 222, and each second pulley 230 in the second group of sliders 222 is at a different distance from the first slide bar 210. In this case, the first pulley 410 may be disposed between two adjacent second pulleys 230 in the second group of sliders 222, so that the drive rope 600 alternately passes through the first pulley 410 and the second pulleys 230 on the second group of sliders 222.

[0048] In some embodiments, in conjunction with FIG. 3 , the bracket 100 includes a base 110 and a second sliding rod 120 disposed on the base 110 along a second direction OZ, and both ends of the first sliding rod 210 are slidably mounted on the second sliding rod 120 .

[0049] In this embodiment, at least one pair of second slide bars 120 is disposed on the base 110, and the two ends of the first slide bar 210 along the first direction OX are respectively sleeved on the two second slide bars 120. The first slide bar 210 slides on the second slide bar 120 along the second direction OZ to test drive ropes 600 of different lengths.

[0050] Specifically, the first sliding bar 210 is provided with scales.

[0051] When the distance between the first pulley 410 and the second pulley 230 along the second direction OZ is fixed, the distance between the two sliders 220 is read out through the scale, so as to quickly calculate the size of the wrap angle.

[0052] In some embodiments, in combination with Figures 1 and 2, the drive rope test platform includes a towing assembly 500 and a tension sensor 320, the towing assembly 500 includes a motor 510 and a coupling 520, the motor 510 is set on the bracket 100, the coupling 520 connects the motor 510 to the first pulley 410, and the tension sensor 320 is used to be set on the drive rope 600. The towing assembly 500 is set to facilitate testing the maximum static friction coefficient of the drive rope.

[0053] In some embodiments, in conjunction with FIG. 3 , a slide rail 130 is disposed on the bracket 100 , the second sliding assembly 400 includes a support platform 420 , the support platform 420 is slidably connected to the slide rail 130 , and the first pulley 410 is disposed on the support platform 420 .

[0054] Further, the second sliding assembly 400 includes a support member 430, the first pulley 410 is disposed on the support member 430, and the support member 430 is movably disposed on the support platform 420 along the third direction OY; or the support member 430 is rotatably connected to the support platform 420 around the second direction OZ.

[0055] In this embodiment, the support member 430 is used to enable the first pulley 410 to move along the third direction OY or rotate around the second direction OZ. When the first pulley 410 moves, it will drive the drive rope 600 wrapped thereon to move. The wrap angle of the drive rope 600 on the first pulley 410 has been adjusted to simulate the actual service status of the drive rope 600 in the end actuator.

[0056] In some embodiments, the driving rope test platform includes a weight 310 , and the tensile machine 300 and the weight 310 are respectively arranged at two ends of the driving rope 600 .

[0057] The performance test of the drive rope 600 generally includes a breaking force test, a pre-tension test, a static friction test, and a fatigue wear test.

[0058] Among them, the breaking force is one of the performance indicators of the drive rope 600, representing its tensile capacity, and refers to the force that causes the drive rope 600 to break when a certain tension is applied to it. In the actual test, the drive rope 600 is first wound around the first pulley 410, and then one end of the drive rope 600 is connected to the tensile machine 300, and the other end is fixed to the slider 220, and the tension sensor 320 is connected to the end of the drive rope 600 close to the tensile machine 300 and the end of the drive rope 600 close to the slider 220. Then slide the slider 220 and the support platform 420 respectively to adjust the drive rope 600 to the required test wrap angle. Then set the parameters of the tensile machine 300: for example, the stretching speed is 5mm / min. When the drive rope 600 breaks, the tension reading from the tension sensor 320 is recorded, and this value is the breaking force F of the drive rope 600.

[0059] The drive rope 600 is generally made of multiple strands twisted into strands, which are further twisted into a rope. The gaps between the strands and the roots cause a certain amount of structural deformation of the drive rope 600 during its service. The increase in elongation caused by the structural deformation will seriously affect the position accuracy of the drive rope 600. Generally, the drive rope 600 is pre-stretched (the pre-stretching force is 40%-60% of the maximum breaking force) to eliminate / reduce the increase in elongation caused by the structural deformation and improve the position accuracy of the drive rope 600 during its service.

[0060] Among them, the setting method of the drive rope 600 is the same as the breaking force. During the test, the parameters of the tensile machine 300 are set: the stretching speed is 5min / min, and the maximum tension is set to 40%-60% of the measured breaking force, for example, 50% of the measured breaking force. When the tension reading recorded by the tension sensor 320 reaches 50% of the measured breaking force, the tensile machine 300 is stopped and kept still for 5 minutes. Compare the lengths of the drive rope 600 before and after the test to determine the magnitude of the pre-tension deformation.

[0061] When testing static friction, first connect the motor 510 to the pin of the first pulley 410 through a coupling. The setting method of the drive rope 600 during the static friction test is the same as the breaking force. During the test, set the parameters of the tensile machine 300: stretching speed 5min / min. When the reading of the tension sensor 320 at the end of the tensile machine 300 reaches the predetermined tension of the drive rope 600, start the motor 510. Under the action of static friction, the tension of the drive rope 600 on both sides of the first pulley 410 changes, and the reading of the tension sensor 320 at one end of the drive rope 600 continues to increase and exceeds the reading of the tension sensor 320 at the other end of the drive rope 600. When the torque generated by the tension on both sides of the drive rope 600 exceeds the maximum static friction torque, slippage occurs between the drive rope 600 and the first pulley 410, and the test is stopped at this time. During this process, the two tension sensors 320 record the tensions F1 and F2 at both ends of the drive rope 600 in real time. F1 and F2 when the drive rope 600 slips are read from the tension curve, and the actual maximum static friction coefficient is calculated using the Euler formula: F1 / F2=exp(f*α), where f is the maximum static friction coefficient and α is the wrap angle.

[0062] When testing the fatigue wear test, a plurality of sliders 220 are sequentially arranged on the first slide bar 210. The plurality of sliders 220 include a first group of sliders 221 and a second group of sliders 222. A weight 310 is hung on one end of the driving rope 600, and the other end first alternately passes through the first pulley 410 and the second pulley 230 on the first group of sliders 221, and then sequentially passes through the first pulley 410 on the second sliding assembly 400, and finally connects with the tensile machine 300. The positions of the sliders 220 and the support platform 420, as well as the position or angle of the support member 430 on the support platform 420 are adjusted so that different positions of the driving rope 600 present different wrap angles, and then the reciprocating parameters of the tensile machine 300 are set according to the predetermined stroke and speed, and the mass of the weight 310 is set. After a certain period of time, the state of the driving rope 600 and the state of the pulley before and after the test are compared to determine whether the fatigue wear of the driving rope 600 meets the required requirements.

[0063] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A driving rope test platform, characterized in that: The driving rope test platform comprises: Bracket; A first sliding assembly, disposed on the bracket and capable of sliding along a first direction; A tensile testing machine, fixed on the bracket; A second sliding component is slidably arranged on the bracket along the first direction, the first sliding component and the tensile testing machine are both located on the same side of the second sliding component along the second direction, the second sliding component is provided with a first pulley, the first pulley is used for winding a driving rope, the tensile testing machine is used for connecting to one end of the driving rope, and the first sliding component is used for connecting to the other end of the driving rope.

2. The driving rope test platform according to claim 1, characterized in that: The first sliding assembly includes a first sliding rod and a sliding block slidably mounted on the first sliding rod. The first sliding rod is arranged on the bracket along a first direction, and the sliding block is used to be connected to the other end of the driving rope.

3. The driving rope test platform according to claim 2, characterized in that: There are multiple sliders, which are arranged in sequence along the length direction of the first slide bar, and each slider is respectively provided with a second pulley.

4. The driving rope test platform according to claim 3, characterized in that: The plurality of sliders include a first group of sliders, each second pulley in the first group of sliders is at the same distance from the first slide bar, and the first pulley is arranged between two adjacent second pulleys; And / or, the plurality of sliders include a second group of sliders, and each second pulley in the second group of sliders is at a different distance from the first slide bar.

5. The driving rope test platform according to claim 2, characterized in that: The bracket includes a base and a second sliding rod arranged on the base along a second direction, and two ends of the first sliding rod are respectively slidably sleeved on the second sliding rod.

6. The driving rope test platform according to claim 2, characterized in that: The first sliding bar is provided with a scale.

7. The driving rope test platform according to claim 1, characterized in that: The driving rope test platform includes a towing assembly and a tension sensor. The towing assembly includes a motor and a coupling. The motor is arranged on the bracket. The coupling connects the motor to the first pulley. The tension sensor is used to be arranged on the driving rope.

8. The driving rope test platform according to claim 1, characterized in that: The bracket is provided with a slide rail, the second slide assembly comprises a support platform, the support platform is slidably connected to the slide rail, and the first pulley is provided on the support platform.

9. The driving rope test platform according to claim 8, characterized in that: The second sliding assembly includes a support member, the first pulley is arranged on the support member, and the support member is movably arranged on the support platform along the third direction; or the support member is rotatably connected to the support platform around the second direction.

10. The driving rope test platform according to claim 1, characterized in that: The driving rope test platform comprises weights, and the tensile machine and the weights are respectively arranged at two ends of the driving rope.

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