A rope tension measuring and adjusting device

Abstract

This utility model discloses a rope tension measurement and adjustment device, comprising: a base, a rope guiding mechanism, a driving mechanism, an adjusting mechanism, and a tension sensor. The rope guiding mechanism is installed on one side of the base, the driving mechanism is installed on the side of the base away from the rope guiding mechanism, the adjusting mechanism is installed inside the base and is movably connected, and one end of the tension sensor is connected to the adjusting mechanism and the other end is connected to the rope guiding mechanism. This utility model has a simple structure, reasonable design, and is easy to manufacture. It not only measures tension but also adjusts the tension through the adjusting mechanism. The entire device has good integration; moreover, it adopts a modular design, which ensures good maintainability and interchangeability, and will not cause damage to the rope and structure. At the same time, the use of a lead screw structure facilitates fine-tuning of the tension, with high adjustment accuracy. It effectively solves the problem of structural interference caused by the traditional scheme of connecting the tension sensor in series with the rope during rope movement.

Description

Technical Field

[0001] This utility model belongs to the field of rope-driven continuum robot technology, and specifically relates to a rope tension measurement and adjustment device. Background Technology

[0002] Rope-driven continuum robots offer advantages such as high flexibility and lightweight structure. Without rigid joints, they achieve continuous bending similar to biological tissues through rope traction, enabling flexible movement in narrow and complex spaces (such as pipes and cavities), adapting to unstructured environments. Relying on ropes for power transmission, the body can be made of lightweight materials, resulting in a small size and suitability for load-sensitive scenarios such as minimally invasive surgery and search and rescue. Since rope-driven robots are closely connected to ropes, the measurement and adjustment of rope tension are particularly important. This affects the robot's motion posture, structural stability, and helps it adapt to different task requirements, perceive the external environment, and so on. It forms the foundation for the control, operation, and functional expansion of rope-driven robots.

[0003] However, existing rope-driven robots lack mechanical devices that can simultaneously measure and adjust rope tension. Traditional solutions that connect tension sensors in series with the rope are prone to interfering with the structure when the rope moves, and the adjustment accuracy of most tension adjustment devices is not high. Utility Model Content

[0004] Purpose of the utility model: In order to overcome the above shortcomings, the purpose of this utility model is to provide a rope tension measuring and adjusting device with simple structure, reasonable design, and easy production. It not only has tension measurement, but also can adjust the tension through the adjustment mechanism. The whole device has good integration, so as to better meet the needs of users.

[0005] Technical Solution: To achieve the above objectives, this utility model provides a rope tension measurement and adjustment device, comprising: a base, a rope guiding mechanism, a driving mechanism, an adjusting mechanism, and a tension sensor. The rope guiding mechanism is installed on one side of the base, the driving mechanism is installed on the side of the base away from the rope guiding mechanism, the adjusting mechanism is installed inside the base and is movably connected, and one end of the tension sensor is connected to the adjusting mechanism, and the other end is connected to the rope guiding mechanism. This rope tension measurement and adjustment device has a simple structure, reasonable design, and is easy to manufacture. It not only measures tension but also adjusts the tension through the adjusting mechanism, resulting in good integration. Furthermore, its modular design ensures good maintainability and interchangeability, preventing damage to the rope and structure. The screw structure facilitates fine-tuning of the tension with high accuracy, effectively solving the problem of structural interference caused by traditional methods that connect the tension sensor in series with the rope during rope movement.

[0006] The drive mechanism includes a drive motor and a lead screw. The drive motor is connected to the base via a motor mounting bracket, and the lead screw is connected to the base via a lead screw nut assembly, with one end of the lead screw connected to the drive motor via a coupling.

[0007] Furthermore, the adjustment mechanism includes a slider, which is connected to a lead screw via a second connecting assembly.

[0008] Furthermore, a set of guide rods are provided on both sides of the lead screw inside the base, and the slider is slidably connected to the guide rods.

[0009] Preferably, the rope guiding mechanism includes a first fixed pulley and a second fixed pulley. The first fixed pulley is connected to the base through a first pulley bracket, and the second fixed pulley is mounted on the second pulley bracket. The end of the slider away from the drive motor is provided with an adapter frame. One end of the tension sensor is connected to the second pulley bracket, and the other end is connected to the adapter frame.

[0010] More preferably, the first fixed pulley and the second fixed pulley are located in the same plane, and the second fixed pulley moves between the two first fixed pulleys to keep the ropes at both ends of the first fixed pulley parallel.

[0011] Furthermore, the base is composed of a first mounting plate, a second mounting plate, a third mounting plate, and a fourth mounting plate. The first mounting plate has a set of through holes, through which the two ends of the adapter frame pass and connect to the slider. The second mounting plate has a set of elliptical through holes.

[0012] More preferably, the tension sensor is an S-shaped tension sensor with a central protrusion and a cable interface.

[0013] As can be seen from the above technical solution, this utility model has the following beneficial effects: The rope tension measurement and adjustment device described in this utility model has a simple structure, reasonable design, and is easy to manufacture. It not only measures tension but also adjusts the tension through an adjustment mechanism. The entire device has good integration. Furthermore, it adopts a modular design, which ensures good maintainability and interchangeability without damaging the rope or structure. At the same time, the use of a lead screw structure facilitates fine-tuning of the tension with high adjustment accuracy. It effectively solves the problem of structural interference caused by the traditional solution of connecting the tension sensor in series with the rope during rope movement. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the rope tension measuring and adjusting device described in this utility model; Figure 2 This is a schematic diagram of the installation of the adjustment mechanism in this utility model; Figure 3This is a top view of the rope tension measuring and adjusting device of this utility model; Figure 4 This is a schematic diagram of the installation of the slider in this utility model; Figure 5 This is a schematic diagram of the tension sensor in this utility model. Detailed Implementation

[0015] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0016] Example 1 like Figures 1 to 3 The device for measuring and adjusting rope tension shown includes: a base 1, a rope guiding mechanism 2, a drive mechanism 3, an adjustment mechanism 4, and a tension sensor 5. The rope guiding mechanism 2 is installed on one side of the base 1, the drive mechanism 3 is installed on the side of the base 1 away from the rope guiding mechanism 2, the adjustment mechanism 4 is installed inside the base 1 and is movably connected, and one end of the tension sensor 5 is connected to the adjustment mechanism 4 and the other end is connected to the rope guiding mechanism 2.

[0017] The drive mechanism 3 includes a drive motor 31 and a lead screw 32. The drive motor 31 is connected to the base 1 via a motor mounting bracket, and the lead screw 32 is connected to the base 1 via a lead screw nut assembly, with one end connected to the drive motor 31 via a coupling. The lead screw nut assembly includes a lead screw nut, a deep groove ball bearing, and a retaining ring. The lead screw is connected to the base via the deep groove ball bearing and is fixed by the retaining ring.

[0018] like Figure 2 , 3 The adjustment mechanism 4 shown includes a slider 41, which is connected to the lead screw 32 via a second connecting assembly. In this embodiment, the slider 41 is preferably a slider with semi-circular ends and semi-circular hollow structures on its front and rear surfaces. Furthermore, notches for mounting the adapter bracket 411 are provided on both sides of the slider 42.

[0019] like Figure 4 A set of guide rods 11 are arranged opposite each other on both sides of the lead screw 32 inside the base 1 shown. The slider 41 is slidably connected to the guide rods 11. In this embodiment, the slider 41 is preferably connected to the guide rods 11 through a sliding bearing to eliminate the slider friction surface; it should be noted that other suitable connecting parts can also be selected according to actual needs; during operation, the drive motor 31 drives the lead screw 32 to rotate, and the rotation of the lead screw 32 will drive the adjustment mechanism 4 to make linear reciprocating motion along the guide rods 11 parallel to the length direction of the lead screw 32.

[0020] As shown in the figure, the rope guiding mechanism 2 includes a first fixed pulley 21 and a second fixed pulley 22. The first fixed pulley 21 is connected to the base 1 via a first pulley bracket 23. The second fixed pulley 22 is mounted on a second pulley bracket 24. An adapter bracket 411 is provided at the end of the slider 41 away from the drive motor 31. One end of the tension sensor 5 is connected to the second pulley bracket 24, and the other end is connected to the adapter bracket 411. The first fixed pulley 21 and the second fixed pulley 22 are connected to the first pulley bracket 23 and the second pulley bracket 24 respectively via cotter pins and snap rings. The first fixed pulley 21 and the second fixed pulley 22 are in the same plane, and the second fixed pulley 22 moves between the two first fixed pulleys 21, keeping the ropes at both ends of the second fixed pulley 22 parallel.

[0021] Example 2 like Figures 1 to 3 The device for measuring and adjusting rope tension shown includes: a base 1, a rope guiding mechanism 2, a drive mechanism 3, an adjustment mechanism 4, and a tension sensor 5. The rope guiding mechanism 2 is installed on one side of the base 1, the drive mechanism 3 is installed on the side of the base 1 away from the rope guiding mechanism 2, the adjustment mechanism 4 is installed inside the base 1 and is movably connected, and one end of the tension sensor 5 is connected to the adjustment mechanism 4 and the other end is connected to the rope guiding mechanism 2.

[0022] The drive mechanism 3 includes a drive motor 31 and a lead screw 32. The drive motor 31 is connected to the base 1 via a motor mounting bracket, and the lead screw 32 is connected to the base 1 via a lead screw nut assembly, with one end connected to the drive motor 31 via a coupling. The lead screw nut assembly includes a lead screw nut, a deep groove ball bearing, and a retaining ring. The lead screw is connected to the base via the deep groove ball bearing and is fixed by the retaining ring.

[0023] like Figure 2 , 3 The adjustment mechanism 4 shown includes a slider 41, which is connected to the lead screw 32 via a second connecting assembly. In this embodiment, the slider 41 is preferably a slider with semi-circular ends and semi-circular hollow structures on its front and rear surfaces. Furthermore, notches for mounting the adapter bracket 411 are provided on both sides of the slider 42.

[0024] As shown in the figure, a set of guide rods 11 are arranged opposite each other on both sides of the lead screw 32 inside the base 1, and the slider 41 is slidably connected to the guide rods 11. In this embodiment, the slider 41 is preferably connected to the guide rods 11 through a sliding bearing to eliminate the slider friction surface; it should be noted that other suitable connecting parts can also be selected according to actual needs. During operation, the drive motor 31 drives the lead screw 32 to rotate. As the lead screw 32 rotates, it will drive the adjustment mechanism 4 to make linear reciprocating motion along the guide rod 11, which is parallel to the length direction of the lead screw 32.

[0025] As shown in the figure, the rope guiding mechanism 2 includes a first fixed pulley 21 and a second fixed pulley 22. The first fixed pulley 21 is connected to the base 1 via a first pulley bracket 23. The second fixed pulley 22 is mounted on a second pulley bracket 24. An adapter bracket 411 is provided at the end of the slider 41 away from the drive motor 31. One end of the tension sensor 5 is connected to the second pulley bracket 24, and the other end is connected to the adapter bracket 411. The first fixed pulley 21 and the second fixed pulley 22 are connected to the first pulley bracket 23 and the second pulley bracket 24 respectively via cotter pins and snap rings. The first fixed pulley 21 and the second fixed pulley 22 are in the same plane, and the second fixed pulley 22 moves between the two first fixed pulleys 21, keeping the ropes at both ends of the second fixed pulley 22 parallel.

[0026] like Figure 1 The base shown is composed of a first mounting plate, a second mounting plate, a third mounting plate and a fourth mounting plate. The first mounting plate has a set of through holes, and the two ends of the adapter frame pass through the through holes and are connected to the slider. The second mounting plate has a set of elliptical through holes.

[0027] The tension sensor 5 is an S-type tension sensor with a central protrusion and a cable interface. Washers are provided between the tension sensor 5, the adapter frame 411, and the second pulley bracket 24 to reduce wear. When the slider slides, it will drive the first and second fixed pulleys to move together, and the sensor will measure the axial force on the pulleys.

[0028] During operation, the drive motor 31 drives the lead screw 32 to rotate. During the rotation of the lead screw 32, the adjustment mechanism 4 will move along the lead screw 32. When the slider 41 moves, it will drive the second fixed pulley to move together. The tension sensor 5 will measure the axial force on the second fixed pulley 22.

[0029] The working principle of the rope tension measurement and adjustment device described in this embodiment is as follows: During operation, the control device (not shown in the figure) sets the target rope tension. During operation, the tension sensor 5 measures the longitudinal clamping force of the rope in real time. The control device uses the error between these two measurements as the required position compensation and calculates the required rotation angle of the lead screw (which can be achieved using existing calculation formulas, so it will not be elaborated here). The control device drives the lead screw 32 to rotate via the drive motor 31. During the rotation of the lead screw 32, the adjusting mechanism 4 moves along the lead screw 32. When the slider 41 moves, it drives the second fixed pulley 22 to move together. During the movement of the slider 41, the rope tension is increased, tightening the rope. The new tension is detected and sent back to the controller, starting the next control cycle. This achieves a position-compensated tension closed-loop control system.

[0030] In this embodiment, the preferred rope displacement and tension are twice that of the slider 41 displacement and tension.

[0031] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of the present utility model, and these improvements should also be considered within the protection scope of the present utility model.

Claims

1. A rope tension measuring and adjusting device, characterized in that: include: The base (1), rope guiding mechanism (2), drive mechanism (3), adjustment mechanism (4) and tension sensor (5) are provided. The rope guiding mechanism (2) is installed on one side of the base (1), the drive mechanism (3) is installed on the side of the base (1) away from the rope guiding mechanism (2), the adjustment mechanism (4) is installed inside the base (1) and is movably connected, and one end of the tension sensor (5) is connected to the adjustment mechanism (4) and the other end is connected to the rope guiding mechanism (2).

2. The rope tension measuring and adjusting device according to claim 1, characterized in that: The drive mechanism (3) includes a drive motor (31) and a lead screw (32). The drive motor (31) is connected to the base (1) through a motor mounting bracket. The lead screw (32) is connected to the base (1) through a lead screw nut assembly, and one end of the lead screw is connected to the drive motor (31) through a coupling.

3. The rope tension measuring and adjusting device according to claim 1, characterized in that: The adjustment mechanism (4) includes a slider (41), which is connected to the lead screw (32) via a second connecting component.

4. The rope tension measuring and adjusting device according to claim 3, characterized in that: The base (1) is provided with a set of guide rods (11) on both sides of the lead screw (32), and the slider (41) is slidably connected to the guide rods (11).

5. The rope tension measuring and adjusting device according to claim 3, characterized in that: The rope guiding mechanism (2) includes a first fixed pulley (21) and a second fixed pulley (22). The first fixed pulley (21) is connected to the base (1) through the first pulley bracket (23). The second fixed pulley (22) is installed on the second pulley bracket (24). The slider (41) is provided with a transition frame (411) at one end away from the drive motor (31). One end of the tension sensor (5) is connected to the second pulley bracket (24), and the other end is connected to the transition frame (411).

6. The rope tension measuring and adjusting device according to claim 5, characterized in that: The first fixed pulley (21) and the second fixed pulley (22) are located in the same plane. The second fixed pulley (22) moves between the two first fixed pulleys (21) to keep the ropes at both ends of the first fixed pulleys (21) parallel.

7. The rope tension measuring and adjusting device according to claim 5, characterized in that: The base (1) is composed of a first mounting plate, a second mounting plate, a third mounting plate and a fourth mounting plate. The first mounting plate is provided with a set of through holes. The two ends of the adapter (411) pass through the through holes and are connected to the slider (41). The second mounting plate is provided with a set of elliptical through holes.

8. The rope tension measuring and adjusting device according to claim 1, characterized in that: The tension sensor (5) is an S-type tension sensor with a protrusion in the middle and a cable interface.

Images