CN113787508A

CN113787508A - Driving mechanism of rope-driven super-redundancy robot

Info

Publication number: CN113787508A
Application number: CN202111086835.XA
Authority: CN
Inventors: 黄龙; 丁浩; 刘北; 谢建龙; 武朝阳
Original assignee: Changsha University of Science and Technology
Current assignee: Changsha University of Science and Technology
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2021-12-14
Anticipated expiration: 2041-09-16
Also published as: CN113787508B

Abstract

A driving mechanism of a rope-driven ultra-redundancy robot comprises a driving device, a guiding device, a tension adjusting device, a tensioning device, an end effector and a control system. The driving device consists of a driving box body, a driving wheel shaft, a speed reducing motor, a driving rope and a tension adjusting motor. The guide device is composed of a guide wheel and a guide wheel shaft. The tension adjusting device is composed of a sliding block, a guide rail, a tension bottom plate, a sensor, a tension adjusting wheel shaft and a tension adjusting motor. The tensioning device consists of a tensioning wheel, a tensioning wheel shaft, a clamping plate and a threaded rod. The invention realizes the miniaturization design of the driving device of the rope-driven super-redundancy robot, has smaller occupied space of the structure, and has the functions of adjusting the rigidity of the end effector and detecting the tension of the rope in real time.

Description

Driving mechanism of rope-driven super-redundancy robot

Technical Field

The invention relates to the field of robots, in particular to a driving mechanism of a rope-driven super-redundancy robot.

Background

With the increasing complexity and narrowing of the operation environment, the ultra-redundancy robot gradually draws the attention of researchers in various countries and large robot companies due to the strong obstacle avoidance capability and the operation capability in narrow space environment. The ultra-redundancy robot has the advantages of high degree of freedom, large length-diameter ratio, high flexibility and the like, and is suitable for unstructured narrow space environments.

The driving modes of the super-redundancy robot at present at home and abroad mainly comprise fluid driving, shape memory alloy driving, rope driving and the like. The fluid driving mainly comprises a hydraulic driving mode and an air pressure driving mode, but generally additional hydraulic pumps or air pumps and other devices are needed, so that the driving mechanism is complex in size and large in noise. The ultra-redundancy robot made of the shape memory alloy has a large structural size and is not suitable for a narrow space operation environment. Because the number of each degree of freedom of the rope-driven super-redundancy robot needs at least two ropes for driving, the mode that the driving mechanism detects the tension of the ropes in real time is complex, the structure occupies a large space, and the rigidity adjustable function of the robot end effector is difficult to realize continuously.

Disclosure of Invention

In order to overcome the problems, the technical scheme adopted by the invention for solving the technical problems is as follows: a driving mechanism of a rope-driven ultra-redundancy robot comprises a driving device, a guiding device, a tension adjusting device, a tensioning device, an end effector and a control system.

The driving device consists of a driving box body, a driving wheel shaft, a speed reducing motor, a driving rope and a tension adjusting motor. The driving box body comprises a left side plate, a right side plate, an upper plate and a lower plate. The driving wheel, the driving wheel shaft, the speed reducing motor and the driving rope are respectively arranged on the upper plate and the lower plate, the tension adjusting motor is arranged on the right side plate, and the end effector is arranged on the left side plate. In the upper plate and the lower plate, the number of driving wheels, driving wheel shafts and speed reducing motors is the same, and the driving wheel axis, the driving wheel axis and the speed reducing motor rotation axis of the upper plate are coincided with the driving wheel axis, the driving wheel axis and the speed reducing motor rotation axis of the lower plate.

The driving wheels comprise a first driving wheel, a second driving wheel, a third driving wheel and a fourth driving wheel; the driving wheel shafts comprise a first driving wheel shaft, a second driving wheel shaft, a third driving wheel shaft and a fourth driving wheel shaft; the gear motor comprises a first gear motor, a second gear motor, a third gear motor and a fourth gear motor. The driving rope comprises a first driving rope, a second driving rope, a third driving rope and a fourth driving rope. The first driving wheel, the second driving wheel, the third driving wheel and the fourth driving wheel are respectively arranged on a first driving wheel shaft, a second driving wheel shaft, a third driving wheel shaft and a fourth driving wheel shaft and are respectively driven by a first speed reduction motor, a second speed reduction motor, a third speed reduction motor and a fourth speed reduction motor.

The guide device is composed of a guide wheel and a guide wheel shaft. The guide wheels comprise a first guide wheel, a second guide wheel, a third guide wheel, a fourth guide wheel, a fifth guide wheel, a sixth guide wheel, a seventh guide wheel and an eighth guide wheel; the guide wheel shafts comprise a first guide wheel shaft, a second guide wheel shaft, a third guide wheel shaft, a fourth guide wheel shaft, a fifth guide wheel shaft, a sixth guide wheel shaft, a seventh guide wheel shaft and an eighth guide wheel shaft. The first guide wheel, the second guide wheel, the third guide wheel, the fourth guide wheel, the fifth guide wheel, the sixth guide wheel, the seventh guide wheel and the eighth guide wheel are respectively arranged on a first guide wheel shaft, a second guide wheel shaft, a third guide wheel shaft, a fourth guide wheel shaft, a fifth guide wheel shaft, a sixth guide wheel shaft, a seventh guide wheel shaft and an eighth guide wheel shaft.

The tensioning device consists of a tensioning wheel, a tensioning wheel shaft, a clamping plate and a threaded rod; the tensioning wheels comprise a first tensioning wheel, a second tensioning wheel, a third tensioning wheel and a fourth tensioning wheel; the tensioning wheel shafts comprise a first tensioning wheel shaft, a second tensioning wheel shaft, a third tensioning wheel shaft and a fourth tensioning wheel shaft; the clamping plates comprise a first clamping plate, a second clamping plate, a third clamping plate and a fourth clamping plate; the threaded rod comprises a first threaded rod, a second threaded rod, a third threaded rod and a fourth threaded rod. The first tensioning wheel, the second tensioning wheel, the third tensioning wheel and the fourth tensioning wheel are respectively arranged on a first tensioning wheel shaft, a second tensioning wheel shaft, a third tensioning wheel shaft and a fourth tensioning wheel shaft.

The first clamping plate is provided with a threaded hole, the second clamping plate is provided with a through hole, and the first clamping plate and the second clamping plate are connected through a bolt; the first tensioning wheel shaft and the third tensioning wheel shaft are arranged between the first clamping plate and the second clamping plate. And the first tensioning wheel shaft and the third tensioning wheel shaft are clamped and fixed by screwing bolts.

The third clamping plate and the first clamping plate are identical in structure, the fourth clamping plate and the second clamping plate are identical in structure, and the second tensioning wheel shaft and the fourth tensioning wheel shaft are arranged between the third clamping plate and the fourth clamping plate. Clamping and fixing the second tensioning wheel shaft and the fourth tensioning wheel shaft by screwing bolts; the first threaded rod is arranged at the left ends of the first clamping plate and the second clamping plate, and the end face of the threaded rod is connected with the first tensioning wheel shaft and used for adjusting the position of the first tensioning wheel shaft; the second threaded rod is arranged at the left ends of the third clamping plate and the fourth clamping plate, and the end face of the threaded rod is connected with the second tensioning wheel shaft and used for adjusting the position of the second tensioning wheel shaft; the third threaded rod is arranged at the right ends of the first clamping plate and the second clamping plate, and the end face of the threaded rod is connected with the third tensioning wheel shaft and used for adjusting the position of the third tensioning wheel shaft; and the fourth threaded rod is arranged at the right ends of the third clamping plate and the fourth clamping plate, and the end surface of the threaded rod is connected with the fourth tensioning wheel shaft and used for adjusting the position of the fourth tensioning wheel shaft.

Furthermore, the front end of the left side plate of the driving box is connected with the end effector, the head end of the first driving rope is fixedly connected with the tail end of the end effector, the tail end of the first driving rope penetrates through a corresponding rope hole in the end effector, the left side plate enters the driving box, and then the first guiding wheel, the second guiding wheel, the first tensioning wheel, the first driving wheel and the first tension adjusting wheel are sequentially bypassed, the driving box body is penetrated out through the left side plate of the driving box, and finally the tail end of the first driving rope penetrates through the end effector and is fixedly connected with the tail end of the driving box body.

The head end of the second driving rope is fixedly connected to the tail end of the end effector, the tail end of the second driving rope penetrates through the end effector, enters the driving box from the left side plate of the driving box, sequentially bypasses the third guide wheel, the fourth guide wheel, the second tensioning wheel, the second driving wheel and the second tension adjusting wheel, penetrates out of the driving box body through the left side plate, and finally the tail end of the second driving rope penetrates through the end effector and is fixedly connected to the tail end.

The head end of the third driving rope is fixedly connected to the tail end of the end effector, the tail end of the third driving rope penetrates through the end effector, enters the driving box from the left side plate of the driving box, sequentially bypasses the fifth guide wheel, the sixth guide wheel, the third tensioning wheel, the third driving wheel and the third tension adjusting wheel, penetrates out of the driving box body through the left side plate, and finally the tail end of the third driving rope penetrates through the end effector and is fixedly connected to the tail end of the end effector.

The head end of the fourth driving rope is fixedly connected to the tail end of the end effector, the tail end of the fourth driving rope penetrates through the end effector, enters the driving box from the left side plate, sequentially bypasses the seventh guide wheel, the eighth guide wheel, the fourth tensioning wheel, the fourth driving wheel and the fourth tension adjusting wheel, penetrates out of the driving box body through the left side plate, and finally the tail end of the fourth driving rope penetrates through the end effector and is fixedly connected to the tail end of the end effector.

The tension adjusting device is composed of a sliding block, a guide rail, a tension bottom plate, a sensor, a tension adjusting wheel shaft and a tension adjusting motor. The sliding blocks comprise a first sliding block, a second sliding block, a third sliding block and a fourth sliding block; the first sliding block, the second sliding block, the third sliding block and the fourth sliding block are identical in structure. The guide rails comprise a first guide rail, a second guide rail, a third guide rail and a fourth guide rail; the first guide rail, the second guide rail, the third guide rail and the fourth guide rail are identical in structure.

The tension bottom plate comprises a first tension bottom plate, a second tension bottom plate, a third tension bottom plate and a fourth tension bottom plate; the first tension bottom plate, the second tension bottom plate, the third tension bottom plate and the fourth tension bottom plate are identical in structure. The sensors comprise a first sensor, a second sensor, a third sensor and a fourth sensor; the measuring ranges of the first sensor, the second sensor, the third sensor and the fourth sensor are required to be larger than the change range of the tension of the rope. The tension adjusting wheels comprise a first tension adjusting wheel, a second tension adjusting wheel, a third tension adjusting wheel and a fourth tension adjusting wheel; the first tension adjusting wheel, the second tension adjusting wheel, the third tension adjusting wheel and the fourth tension adjusting wheel are identical in structure. The tension adjusting wheel shaft comprises a first tension adjusting wheel shaft, a second tension adjusting wheel shaft, a third tension adjusting wheel shaft and a fourth tension adjusting wheel shaft; the first tension adjusting wheel shaft, the second tension adjusting wheel shaft, the third tension adjusting wheel shaft and the fourth tension adjusting wheel shaft are identical in structure.

The tension adjusting motor comprises a first tension adjusting motor, a second tension adjusting motor, a third tension adjusting motor and a fourth tension adjusting motor; the first tension bottom plate, the second tension bottom plate, the third tension bottom plate and the fourth tension bottom plate are respectively arranged on the first sliding block, the second sliding block, the third sliding block and the fourth sliding block; the first sliding block, the second sliding block, the third sliding block and the fourth sliding block are respectively arranged on the first guide rail, the second guide rail, the third guide rail and the fourth guide rail; the first guide rail, the second guide rail, the third guide rail and the fourth guide rail are arranged on the driving box body; the first tension adjusting wheel shaft, the second tension adjusting wheel shaft, the third tension adjusting wheel shaft and the fourth tension adjusting wheel shaft are respectively arranged on the first tension bottom plate, the second tension bottom plate, the third tension bottom plate and the fourth tension bottom plate; the first tension adjusting wheel, the second tension adjusting wheel, the third tension adjusting wheel and the fourth tension adjusting wheel are respectively arranged on a first tension adjusting wheel shaft, a second tension adjusting wheel shaft, a third tension adjusting wheel shaft and a fourth tension adjusting wheel shaft; the front end surfaces of the first sensor, the second sensor, the third sensor and the fourth sensor are fixedly connected with the first tension bottom plate, the second tension bottom plate, the third tension bottom plate and the fourth tension bottom plate respectively; the rear end faces of the first sensor, the second sensor, the third sensor and the fourth sensor are respectively connected with the first tension adjusting motor, the second tension adjusting motor, the third tension adjusting motor and the fourth tension adjusting motor through couplers and bolts. The first tension adjusting motor, the second tension adjusting motor, the third tension adjusting motor and the fourth tension adjusting motor drive the coupler and the bolt to rotate, so that the positions of the first sliding block, the second sliding block, the third sliding block and the fourth sliding block are changed, and the rigidity of the end effector can be adjusted.

Further, when the initial state of the first driving rope is in a slack state, the position of the first tensioning wheel is adjusted by adjusting the screwing length of the first threaded rod, so that the initial tension of the first driving rope is adjusted.

When the initial state of the second driving rope is in a loose state, adjusting the position of the second tensioning wheel by adjusting the screwing length of the second threaded rod so as to adjust the initial tension of the first driving rope; when the initial state of the third driving rope is in a slack state, adjusting the position of the third tensioning wheel by adjusting the screwing length of the third threaded rod, so as to adjust the initial tension of the third driving rope; when the initial state of the fourth driving rope is slack, the position of the fourth tensioning wheel is adjusted by adjusting the precession length of the fourth threaded rod, so that the initial tension of the fourth driving rope is adjusted.

Further, when the first driving rope is in a working state, the first sensor transmits the measured tension of the first driving rope to a control system, when the measured tension is larger than a preset tension range, the control system controls the first tension adjusting motor to rotate, the position of the first tension adjusting wheel is adjusted, the tension of the first driving rope is reduced to the preset tension range, when the measured tension is smaller than the preset tension range, the control system controls the first tension adjusting motor to rotate, the position of the first tension adjusting wheel is adjusted, and the tension of the first driving rope is increased to the preset tension range.

Further, when the second driving rope is in a working state, the second sensor transmits the measured tension of the second driving rope to the control system, when the measured tension is larger than a preset tension range, the control system controls the second tension adjusting motor to rotate, the position of the second tension adjusting wheel is adjusted, the tension of the second driving rope is reduced to the preset tension range, when the measured tension is smaller than the preset tension range, the control system controls the second tension adjusting motor to rotate, the position of the second tension adjusting wheel is adjusted, and the tension of the second driving rope is increased to the preset tension range.

Further, when the third driving rope is in a working state, the third sensor transmits the measured tension of the third driving rope to the control system, when the measured tension is larger than a preset tension range, the control system controls the third tension adjusting motor to rotate, the position of the third tension adjusting wheel is adjusted, the tension of the third driving rope is reduced to the preset tension range, when the measured tension is smaller than the preset tension range, the control system controls the third tension adjusting motor to rotate, the position of the third tension adjusting wheel is adjusted, and the tension of the third driving rope is increased to the preset tension range.

Further, when the fourth driving rope is in a working state, the fourth sensor transmits the measured tension of the fourth driving rope to the control system, when the measured tension is larger than a preset tension range, the control system controls the fourth tension adjusting motor to rotate, adjusts the position of the fourth tension adjusting wheel, so that the tension of the fourth driving rope is reduced to the preset tension range, and when the measured tension is smaller than the preset tension range, the control system rotates the fourth tension adjusting motor, adjusts the position of the fourth tension adjusting wheel, and increases the tension of the fourth driving rope to the preset tension range.

The invention has the beneficial effects that: the rope wheel transmission system is arranged up and down, so that the driving device of the rope-driven super-redundancy robot is miniaturized, and the structure occupies a small space; the rigidity adjusting function of the robot end effector is easily and continuously realized by changing the position of the tension bottom plate through the tension adjusting motor; a tension sensor is arranged in each driving rope, so that the rope tension can be detected in real time, the data of the rope tension is fed back to a control system, and whether the data exceeds or is lower than a preset rope tension range is judged, so that closed-loop control is formed.

Drawings

FIG. 1 is a schematic axial side view of the drive mechanism of the present invention.

FIG. 2 is a schematic view of the control system of the drive mechanism of the present invention.

Fig. 3 is a schematic structural view of the arrangement of the rope wheel transmission system of the driving mechanism of the invention.

Fig. 4 is a schematic structural diagram of a tension adjusting module of the driving mechanism of the present invention.

Fig. 5 is a schematic structural view of the upper plate of the driving mechanism of the present invention.

FIG. 1-drive; 101-a first guide rail; 102-a fourth guide rail; 103-a second guide rail; 104-a third guide rail; 105-an end effector; 2-a first drive wheel; 3-a fourth drive wheel; 4-a second drive wheel; 5-a third drive wheel; 6-a first drive axle; 7-a fourth drive axle; 8-a second drive axle; 9-a third drive axle; 10-a first gear motor; 11-a third gear motor; 12 a second reduction motor; 13-a fourth gear motor; 14-a first drive rope; 15 a third drive line; 16-a second drive rope; 17-a fourth drive rope; 18-a first slide; 19-a second slide; 20-a third slide block; 21-a fourth slider; 22-a first tension shoe; 23-a second tension shoe; 24-a third tension shoe; 25-a fourth tension shoe; 26-a first sensor; 27-a second sensor; 28-a third sensor; 29-a fourth sensor; 30-a first tension adjustment wheel; 31 a fourth tension adjusting wheel; 32-a second tensioning wheel; 33-a third tension adjustment wheel; 34-a first tension adjustment axle; 35-a fourth tension adjustment axle; 36-a second tensioning axle; 37-a third tension adjustment axle; 38-a first tension-adjusting motor; 39-a fourth tensioning motor; 40-a second tensioning motor; 41-a third tensioning motor; 42-a first guide wheel; 43-a second guide wheel; 44-an eighth guide wheel; 45-a seventh guide wheel; 46-a fourth guide wheel; 47-a third guide wheel; 48-a fifth guide wheel; 49-a sixth guide wheel; 50-a first guide axle; 51-a second guide axle; 52-eighth leading wheel axle; 53-seventh leading wheel axle; 54-a fourth guide axle; 55-a third guide axle; 56-fifth guide axle; 57-a sixth guide axle; 58-a first tensioning wheel; 59-a fourth tensioner; 60-a second tensioning wheel; 61-a third tensioner; 62-a first tensioning axle; 63-a fourth idler shaft; 64-a second tensioning axle; 65-a third tensioning axle; 66-a first splint; 67-a second splint; 68-a third splint; 69-a fourth splint; 70-a first threaded rod; 71-a fourth threaded rod; 72-a second threaded rod; 73-third threaded rod.

Detailed Description

As shown in fig. 1 to 5, a drive mechanism of a rope-driven hyper-redundancy robot includes a drive device 1, a guide device, a tension adjusting device, a tensioning device, an end effector 105; the driving device 1 consists of a driving box body, a driving wheel shaft, a speed reducing motor and a driving rope; the driving box body comprises a left side plate, a right side plate, an upper plate and a lower plate; the driving wheel, the driving wheel shaft, the speed reducing motor and the driving rope are respectively arranged on the upper plate and the lower plate, the tension adjusting motor is arranged on the right side plate, and the end effector 105 is arranged on the left side plate; in the upper plate and the lower plate, the number of driving wheels, driving wheel shafts and speed reducing motors is the same, and the driving wheel axis, the driving wheel axis and the speed reducing motor rotation axis of the upper plate are respectively superposed with the driving wheel axis, the driving wheel axis and the speed reducing motor rotation axis of the lower plate.

The driving wheels comprise a first driving wheel 2, a second driving wheel 4, a third driving wheel 5 and a fourth driving wheel 3; the driving wheel shafts comprise a first driving wheel shaft 6, a second driving wheel shaft 8, a third driving wheel shaft 9 and a fourth driving wheel shaft 7; the gear motors comprise a first gear motor 10, a second gear motor 12, a third gear motor 11 and a fourth gear motor 13; the driving ropes comprise a first driving rope 14, a second driving rope 16, a third driving rope 15 and a fourth driving rope 17; the first driving wheel 2, the second driving wheel 4, the third driving wheel 5 and the fourth driving wheel 3 are respectively arranged on a first driving wheel shaft 6, a second driving wheel shaft 8, a third driving wheel shaft 9 and a fourth driving wheel shaft 7 and are respectively driven by a first speed reduction motor 10, a second speed reduction motor 12, a third speed reduction motor 11 and a fourth speed reduction motor 13.

The guide device consists of a guide wheel and a guide wheel shaft; the guide wheels comprise a first guide wheel 42, a second guide wheel 43, a third guide wheel 47, a fourth guide wheel 46, a fifth guide wheel 48, a sixth guide wheel 49, a seventh guide wheel 45 and an eighth guide wheel 44; the guide wheel shafts comprise a first guide wheel shaft 50, a second guide wheel shaft 51, a third guide wheel shaft 55, a fourth guide wheel shaft 54, a fifth guide wheel shaft 56, a sixth guide wheel shaft 57, a seventh guide wheel shaft 53 and an eighth guide wheel shaft 52; the first guide wheel 42, the second guide wheel 43, the third guide wheel 47, the fourth guide wheel 46, the fifth guide wheel 48, the sixth guide wheel 49, the seventh guide wheel 45 and the eighth guide wheel 44 are respectively arranged on a first guide wheel shaft 50, a second guide wheel shaft 51, a third guide wheel shaft 55, a fourth guide wheel shaft 54, a fifth guide wheel shaft 56, a sixth guide wheel shaft 57, a seventh guide wheel shaft 53 and an eighth guide wheel shaft 52.

The tensioning device consists of a tensioning wheel, a tensioning wheel shaft, a clamping plate and a threaded rod; the tensioning wheels comprise a first tensioning wheel 58, a second tensioning wheel 60, a third tensioning wheel 61 and a fourth tensioning wheel 59; the tensioning wheel shafts comprise a first tensioning wheel shaft 62, a second tensioning wheel shaft 64, a third tensioning wheel shaft 65 and a fourth tensioning wheel shaft 63; the clamping plates comprise a first clamping plate, a second clamping plate 67, a third clamping plate 68 and a fourth clamping plate 69; the threaded rods comprise a first threaded rod 70, a second threaded rod 72, a third threaded rod 73 and a fourth threaded rod 71; the first tensioning wheel 58, the second tensioning wheel 60, the third tensioning wheel 61 and the fourth tensioning wheel 59 are respectively installed on a first tensioning wheel shaft 62, a second tensioning wheel shaft 64, a third tensioning wheel shaft 65 and a fourth tensioning wheel shaft 63.

The first clamping plate 66 is provided with a threaded hole, the second clamping plate 67 is provided with a through hole, and the first clamping plate 66 and the second clamping plate 67 are connected through bolts; the first tensioning wheel shaft 62 and the third tensioning wheel shaft 65 are arranged between the first clamping plate and the second clamping plate 67; the first tension pulley shaft 62 and the third tension pulley shaft 65 are clamped and fixed by tightening the bolts.

The second tensioning wheel shaft 64 and the fourth tensioning wheel shaft 63 are arranged between the third clamping plate and the fourth clamping plate 69; the second tensioning wheel shaft 64 and the fourth tensioning wheel shaft 63 are clamped and fixed through screwing bolts; the first threaded rod 70 is arranged at the left ends of the first clamping plate 66 and the second clamping plate 67, and the end surface of the threaded rod is connected with the first tensioning wheel shaft 62 and used for adjusting the position of the first tensioning wheel shaft 62; the second threaded rod 72 is arranged at the left ends of the third clamping plate 68 and the fourth clamping plate 69, and the end surface of the threaded rod is connected with the second tensioning wheel shaft 64 and used for adjusting the position of the second tensioning wheel shaft 64; the third threaded rod 73 is arranged at the right ends of the first clamping plate 66 and the second clamping plate 67, and the end surface of the threaded rod is connected with the third tensioning wheel shaft 65 and used for adjusting the position of the third tensioning wheel shaft 65; the fourth threaded rod 71 is installed at the right ends of the third clamping plate 68 and the fourth clamping plate 69, and the end surface of the threaded rod is connected with the fourth tensioning wheel shaft 63 for adjusting the position of the fourth tensioning wheel shaft 63.

Further, the front end of the left side plate of the driving box is connected with the end effector 105, the head end of the first driving rope 14 is fixedly connected to the tail end of the end effector 105, the tail end of the first driving rope passes through a corresponding rope hole in the end effector 105, the left side plate enters the driving box and then sequentially bypasses the first guide wheel 42, the second guide wheel 43, the first tensioning wheel 58, the first driving wheel 2 and the first tension adjusting wheel 30 to penetrate out of the driving box body through the left side plate of the driving box, and the tail end of the driving box passes through the end effector 105 and is fixedly connected to the tail end of the driving box.

The head end of the second driving rope 16 is fixedly connected to the tail end of the end effector 105, the tail end passes through the end effector 105, enters the driving box from the left side plate of the driving box, sequentially bypasses the third guide wheel 47, the fourth guide wheel 46, the second tensioning wheel 60, the second driving wheel 4 and the second tension adjusting wheel 32, then passes through the driving box body from the left side plate, and finally the tail end passes through the end effector 105 and is fixedly connected to the tail end.

The head end of the third driving rope 15 is fixedly connected to the tail end of the end effector 105, the tail end of the third driving rope passes through the end effector 105, enters the driving box from the left side plate of the driving box, sequentially bypasses the fifth guide wheel 48, the sixth guide wheel 49, the third tension wheel 61, the third driving wheel 5 and the third tension adjusting wheel 33, then passes through the driving box body through the left side plate, and the tail end of the third driving rope passes through the end effector 105 and is fixedly connected to the tail end of the end effector.

The head end of the fourth driving rope 17 is fixedly connected to the tail end of the end effector 105, the tail end of the fourth driving rope passes through the end effector 105, the fourth driving rope enters the driving box from the left side plate, sequentially bypasses the seventh guide wheel 45, the eighth guide wheel 44, the fourth tension wheel 46, the fourth driving wheel 3 and the fourth tension adjusting wheel 31, then passes through the driving box body through the left side plate, and finally passes through the end effector 105 and is fixedly connected to the tail end of the end effector.

The tension adjusting device consists of a sliding block, a guide rail, a tension bottom plate, a sensor, a tension adjusting wheel shaft and a tension adjusting motor; the sliding blocks comprise a first sliding block 18, a second sliding block 19, a third sliding block 20 and a fourth sliding block 21; the guide rails comprise a first guide rail 101, a second guide rail 103, a third guide rail 104 and a fourth guide rail 102; the tension bottom plates comprise a first tension bottom plate 22, a second tension bottom plate 23, a third tension bottom plate 24 and a fourth tension bottom plate 25; the sensors include a first sensor 26, a second sensor 27, a third sensor 28, a fourth sensor 29; the measuring ranges of the first sensor 26, the second sensor 27, the third sensor 28 and the fourth sensor 29 are required to be larger than the change range of the rope tension; the tension adjusting wheels comprise a first tension adjusting wheel 30, a second tension adjusting wheel 32, a third tension adjusting wheel 33 and a fourth tension adjusting wheel 31; the tension adjustment wheel shafts include a first tension adjustment wheel shaft 34, a second tension adjustment wheel shaft 36, a third tension adjustment wheel shaft 37, and a fourth tension adjustment wheel shaft 35.

The tension adjusting motor comprises a first tension adjusting wheel motor 38, a second tension adjusting wheel motor 40, a third tension adjusting wheel motor 41 and a fourth tension adjusting wheel motor 39; the first tension bottom plate 22, the second tension bottom plate 23, the third tension bottom plate 24 and the fourth tension bottom plate 25 are respectively arranged on the first slide block 18, the second slide block 19, the third slide block 20 and the fourth slide block 21; the first slide block 18, the second slide block 19, the third slide block 20 and the fourth slide block 21 are respectively arranged on a first guide rail 101, a second guide rail 103, a third guide rail 104 and a fourth guide rail 102; the first guide rail, the second guide rail 103, the third guide rail 104 and the fourth guide rail 102 are arranged on the driving box body; the first tension adjusting wheel shaft 34, the second tension adjusting wheel shaft 36, the third tension adjusting wheel shaft 37 and the fourth tension adjusting wheel shaft 35 are respectively arranged on the first tension base plate 22, the second tension base plate 23, the third tension base plate 24 and the fourth tension base plate 25.

The first tension adjusting wheel 30, the second tension adjusting wheel 32, the third tension adjusting wheel 33 and the fourth tension adjusting wheel 31 are respectively arranged on a first tension adjusting wheel shaft 34, a second tension adjusting wheel shaft, a third tension adjusting wheel shaft 37 and a fourth tension adjusting wheel shaft 35.

The front end surfaces of the first sensor 26, the second sensor 27, the third sensor 28 and the fourth sensor 29 are fixedly connected with the first tension base plate 22, the second tension base plate 23, the third tension base plate 24 and the fourth tension base plate 25 respectively; the rear end faces of the first sensor 26, the second sensor 27, the third sensor 28 and the fourth sensor 29 are respectively connected with a first tension adjusting wheel motor 38, a second tension adjusting wheel motor 40, a third tension adjusting wheel motor 41 and a fourth tension adjusting wheel motor 39 through couplers and bolts.

The first tension adjusting wheel motor 38, the second tension adjusting wheel motor 40, the third tension adjusting wheel motor 41 and the fourth tension adjusting wheel motor 39 drive the shaft coupling and the bolt to rotate, so that the positions of the first sliding block 18, the second sliding block 19, the third sliding block 20 and the fourth sliding block 21 are changed, and the rigidity adjusting function of the end effector 105 is further realized.

Further, when the initial state of the first driving rope 14 is in a slack state, the position of the first tension wheel 58 is adjusted by adjusting the precession length of the first threaded rod 70, thereby adjusting the initial tension of the first driving rope in real time.

Further, when the initial state of the second driving rope 16 is in a slack state, the position of the second tension pulley 60 is adjusted by adjusting the screw length of the second threaded rod 72, so that the initial tension of the first driving rope is adjusted in real time.

Further, when the initial state of the third driving rope 15 is slack, the position of the third tension pulley 61 is adjusted by adjusting the length of the third threaded rod 73, so that the initial tension of the third driving rope 15 is adjusted in real time.

Further, when the initial state of the fourth drive rope 17 is slack, the position of the fourth tension pulley 59 is adjusted by adjusting the length of the fourth threaded rod 71, and the initial tension of the fourth drive rope 17 is adjusted in real time.

Further, when the first driving rope 14 is in the working state, the first sensor 26 transmits the measured tension of the first driving rope to the control system, when the measured tension is greater than the preset tension range, the control system controls the first tension adjusting wheel motor 38 to rotate, adjusts the position of the first tension adjusting wheel 30, so that the tension of the first driving rope 14 is reduced to the preset tension range, and when the measured tension is less than the preset tension range, the control system controls the first tension adjusting wheel motor 38 to rotate, adjusts the position of the first tension adjusting wheel 30, so that the tension of the first driving rope 14 is increased to the preset tension range.

Further, when the second driving rope 16 is in the working state, the second sensor 27 transmits the measured tension of the second driving rope 16 to the control system, when the measured tension is greater than the preset tension range, the control system controls the second tension adjusting wheel motor 40 to rotate, adjusts the position of the second tension adjusting wheel 32, so that the tension of the second driving rope 16 is reduced to the preset tension range, and when the measured tension is less than the preset tension range, the control system controls the second tension adjusting wheel motor 40 to rotate, adjusts the position of the second tension adjusting wheel 32, so that the tension of the second driving rope 16 is increased to the preset tension range.

Further, when the third driving rope 15 is in the working state, the third sensor 28 transmits the measured tension of the third driving rope 15 to the control system, when the measured tension is greater than the preset tension range, the control system controls the third tension adjusting wheel motor 41 to rotate, adjusts the position of the third tension adjusting wheel 33, so that the tension of the third driving rope 15 is reduced to the preset tension range, and when the measured tension is less than the preset tension range, the control system controls the third tension adjusting wheel to rotate electrically, adjusts the position of the third tension adjusting wheel 33, so that the tension of the third driving rope 15 is increased to the preset tension range.

Further, when the fourth driving rope 17 is in a working state, the fourth sensor 29 transmits the measured tension of the fourth driving rope 17 to the control system, when the measured tension is greater than a preset tension range, the control system controls the fourth tension adjusting wheel motor 39 to rotate, adjusts the position of the fourth tension adjusting wheel 31, so that the tension of the fourth driving rope 17 is reduced to the preset tension range, and when the measured tension is less than the preset tension range, the control system rotates the fourth tension adjusting wheel motor 39, adjusts the position of the fourth tension adjusting wheel 31, and increases the tension of the fourth driving rope 17 to the preset tension range.

The third clamping plate 68 is identical to the first clamping plate 66 in structure, and the fourth clamping plate 69 is identical to the second clamping plate 67 in structure; the third clamping plate 68 is identical in structure to the first clamping plate 66, and the fourth clamping plate 69 is identical in structure to the second clamping plate 67.

The first guide wheel 42, the second guide wheel 43, the third guide wheel 47, the fourth guide wheel 46, the fifth guide wheel 48, the sixth guide wheel 49, the seventh guide wheel 45 and the eighth guide wheel 44 have the same structure; the first guide wheel shaft 50, the second guide wheel shaft 51, the third guide wheel shaft 55, the fourth guide wheel shaft 54, the fifth guide wheel shaft 56, the sixth guide wheel shaft 57, the seventh guide wheel shaft 53 and the eighth guide wheel shaft 52 have the same structure.

The first tension base plate 22, the second tension base plate 23, the third tension base plate 24 and the fourth tension base plate 25 have the same structure.

The first, second, third and fourth threaded

rods

70, 72, 73 and 71 are identical in structure.

The first slide block 18, the second slide block 19, the third slide block 20 and the fourth slide block 21 have the same structure; the first guide rail 101, the second guide rail 103, the third guide rail 104 and the fourth guide rail 102 have the same structure.

The first sensor 26, the second sensor 27, the third sensor 28 and the fourth sensor 29 have the same measuring range.

The first tension adjusting wheel 30, the second tension adjusting wheel 32, the third tension adjusting wheel 33 and the fourth tension adjusting wheel 31 have the same structure; the first tension adjusting wheel shaft 34, the second tension adjusting wheel shaft 36, the third tension adjusting wheel shaft 37 and the fourth tension adjusting wheel shaft 35 have the same structure.

The first tension base plate 22, the second tension base plate 23, the third tension base plate 24 and the fourth tension base plate 25 are identical in structure.

The first driving rope 14, the second driving rope 16, the third driving rope 15 and the fourth driving rope 17 are made of the same material and have the same shape, wherein the material is stainless steel material.

The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a drive mechanism of super redundancy robot of rope drive which characterized in that: comprises a driving device (1), a guiding device, a tension adjusting device, a tensioning device and an end effector (105); the driving device (1) is composed of a driving box body, a driving wheel shaft, a speed reducing motor and a driving rope; the driving box body comprises a left side plate, a right side plate, an upper plate and a lower plate; the driving wheel, the driving wheel shaft, the speed reducing motor and the driving rope are respectively arranged on the upper plate and the lower plate, the tension adjusting motor is arranged on the right side plate, and the end effector (105) is arranged on the left side plate; in the upper plate and the lower plate, the number of driving wheels, driving wheel shafts and speed reducing motors is the same, and the driving wheel axis, the driving wheel axis and the speed reducing motor rotation axis of the upper plate are respectively superposed with the driving wheel axis, the driving wheel axis and the speed reducing motor rotation axis of the lower plate;

the driving wheels comprise a first driving wheel (2), a second driving wheel (4), a third driving wheel (5) and a fourth driving wheel (3); the driving wheel shafts comprise a first driving wheel shaft (6), a second driving wheel shaft (8), a third driving wheel shaft (9) and a fourth driving wheel shaft (7); the speed reducing motor comprises a first speed reducing motor (10), a second speed reducing motor (12), a third speed reducing motor (11) and a fourth speed reducing motor (13); the driving ropes comprise a first driving rope (14), a second driving rope (16), a third driving rope (15) and a fourth driving rope (17); the first driving wheel (2), the second driving wheel (4), the third driving wheel (5) and the fourth driving wheel (3) are respectively arranged on a first driving wheel shaft (6), a second driving wheel shaft (8), a third driving wheel shaft (9) and a fourth driving wheel shaft (7) and are respectively driven by a first speed reducing motor (10), a second speed reducing motor (12), a third speed reducing motor (11) and a fourth speed reducing motor (13);

the guide device consists of a guide wheel and a guide wheel shaft; the guide wheels comprise a first guide wheel (42), a second guide wheel (43), a third guide wheel (47), a fourth guide wheel (46), a fifth guide wheel (48), a sixth guide wheel (49), a seventh guide wheel (45) and an eighth guide wheel (44); the guide wheel shafts comprise a first guide wheel shaft (50), a second guide wheel shaft (51), a third guide wheel shaft (55), a fourth guide wheel shaft (54), a fifth guide wheel shaft (56), a sixth guide wheel shaft (57), a seventh guide wheel shaft (53) and an eighth guide wheel shaft (52); the first guide wheel (42), the second guide wheel (43), the third guide wheel (47), the fourth guide wheel (46), the fifth guide wheel (48), the sixth guide wheel (49), the seventh guide wheel (45) and the eighth guide wheel (44) are respectively arranged on a first guide wheel shaft (50), a second guide wheel shaft (51), a third guide wheel shaft (55), a fourth guide wheel shaft (54), a fifth guide wheel shaft (56), a sixth guide wheel shaft (57), a seventh guide wheel shaft (53) and an eighth guide wheel shaft (52);

the tensioning device consists of a tensioning wheel, a tensioning wheel shaft, a clamping plate and a threaded rod; the tensioning wheels comprise a first tensioning wheel (58), a second tensioning wheel (60), a third tensioning wheel (61) and a fourth tensioning wheel (59); the tensioning wheel shafts comprise a first tensioning wheel shaft (62), a second tensioning wheel shaft (64), a third tensioning wheel shaft (65) and a fourth tensioning wheel shaft (63); the clamping plates comprise a first clamping plate, a second clamping plate (67), a third clamping plate (68) and a fourth clamping plate (69); the threaded rods comprise a first threaded rod (70), a second threaded rod (72), a third threaded rod (73) and a fourth threaded rod (71); the first tensioning wheel (58), the second tensioning wheel (60), the third tensioning wheel (61) and the fourth tensioning wheel (59) are respectively arranged on a first tensioning wheel shaft (62), a second tensioning wheel shaft (64), a third tensioning wheel shaft (65) and a fourth tensioning wheel shaft (63);

the first clamping plate (66) is provided with a threaded hole, the second clamping plate (67) is provided with a through hole, and the first clamping plate (66) and the second clamping plate (67) are connected through a bolt; the first tensioning wheel shaft (62) and the third tensioning wheel shaft (65) are arranged between the first clamping plate and the second clamping plate (67); the first tensioning wheel shaft (62) and the third tensioning wheel shaft (65) are clamped and fixed through screwing bolts;

the second tensioning wheel shaft (64) and the fourth tensioning wheel shaft (63) are arranged between the third clamping plate and the fourth clamping plate (69); the second tensioning wheel shaft (64) and the fourth tensioning wheel shaft (63) are clamped and fixed through screwing bolts; the first threaded rod (70) is arranged at the left ends of the first clamping plate (66) and the second clamping plate (67), and the end face of the threaded rod is connected with the first tensioning wheel shaft (62) and used for adjusting the position of the first tensioning wheel shaft (62); the second threaded rod (72) is arranged at the left ends of the third clamping plate (68) and the fourth clamping plate (69), and the end face of the threaded rod is connected with the second tensioning wheel shaft (64) and used for adjusting the position of the second tensioning wheel shaft (64); the third threaded rod (73) is arranged at the right ends of the first clamping plate (66) and the second clamping plate (67), and the end face of the threaded rod is connected with the third tensioning wheel shaft (65) and used for adjusting the position of the third tensioning wheel shaft (65); the fourth threaded rod (71) is arranged at the right ends of the third clamping plate (68) and the fourth clamping plate (69), and the end face of the threaded rod is connected with the fourth tensioning wheel shaft (63) and used for adjusting the position of the fourth tensioning wheel shaft (63);

furthermore, the front end of the left side plate of the driving box is connected with the end effector (105), the head end of the first driving rope (14) is fixedly connected to the tail end of the end effector (105), the tail end of the first driving rope passes through a corresponding rope hole in the end effector (105), enters the driving box from the left side plate, sequentially bypasses the first guide wheel (42), the second guide wheel (43), the first tensioning wheel (58), the first driving wheel (2) and the first tension adjusting wheel (30), passes through the driving box body from the left side plate of the driving box, and finally passes through the end effector (105) and is fixedly connected to the tail end of the driving box;

the head end of the second driving rope (16) is fixedly connected to the tail end of the end effector (105), the tail end of the second driving rope penetrates through the end effector (105), enters the driving box from the left side plate of the driving box, sequentially bypasses the third guide wheel (47), the fourth guide wheel (46), the second tensioning wheel (60), the second driving wheel (4) and the second tension adjusting wheel (32), penetrates out of the driving box body through the left side plate, and finally the tail end of the second driving rope penetrates through the end effector (105) and is fixedly connected to the tail end;

the head end of the third driving rope (15) is fixedly connected to the tail end of the end effector (105), the tail end of the third driving rope penetrates through the end effector (105), enters the driving box from the left side plate of the driving box, sequentially bypasses the fifth guide wheel (48), the sixth guide wheel (49), the third tension wheel (61), the third driving wheel (5) and the third tension adjusting wheel (33), penetrates out of the driving box body through the left side plate, and finally the tail end of the third driving rope penetrates through the end effector (105) and is fixedly connected to the tail end of the end effector;

the head end of the fourth driving rope (17) is fixedly connected to the tail end of the end effector (105), the tail end of the fourth driving rope penetrates through the end effector (105), enters the driving box from the left side plate, sequentially bypasses the seventh guide wheel (45), the eighth guide wheel (44), the fourth tension wheel (46), the fourth driving wheel (3) and the fourth tension adjusting wheel (31), penetrates out of the driving box body through the left side plate, and finally penetrates through the end effector (105) and is fixedly connected to the tail end of the driving box body;

the tension adjusting device consists of a sliding block, a guide rail, a tension bottom plate, a sensor, a tension adjusting wheel shaft and a tension adjusting motor; the sliding blocks comprise a first sliding block (18), a second sliding block (19), a third sliding block (20) and a fourth sliding block (21); the guide rails comprise a first guide rail (101), a second guide rail (103), a third guide rail (104) and a fourth guide rail (102); the tension bottom plate comprises a first tension bottom plate (22), a second tension bottom plate (23), a third tension bottom plate (24) and a fourth tension bottom plate (25); the sensors comprise a first sensor (26), a second sensor (27), a third sensor (28), a fourth sensor (29); the measuring ranges of the first sensor (26), the second sensor (27), the third sensor (28) and the fourth sensor (29) are required to be larger than the change range of the rope tension; the tension adjusting wheels comprise a first tension adjusting wheel (30), a second tension adjusting wheel (32), a third tension adjusting wheel (33) and a fourth tension adjusting wheel (31); the tension adjusting wheel shafts comprise a first tension adjusting wheel shaft (34), a second tension adjusting wheel shaft (36), a third tension adjusting wheel shaft (37) and a fourth tension adjusting wheel shaft (35);

the tension adjusting motor comprises a first tension adjusting wheel motor (38), a second tension adjusting wheel motor (40), a third tension adjusting wheel motor (41) and a fourth tension adjusting wheel motor (39); the first tension bottom plate (22), the second tension bottom plate (23), the third tension bottom plate (24) and the fourth tension bottom plate (25) are respectively arranged on the first sliding block (18), the second sliding block (19), the third sliding block (20) and the fourth sliding block (21); the first sliding block (18), the second sliding block (19), the third sliding block (20) and the fourth sliding block (21) are respectively arranged on the first guide rail (101), the second guide rail (103), the third guide rail (104) and the fourth guide rail (102); the first guide rail, the second guide rail (103), the third guide rail (104) and the fourth guide rail (102) are arranged on the driving box body; the first tension adjusting wheel shaft (34), the second tension adjusting wheel shaft (36), the third tension adjusting wheel shaft (37) and the fourth tension adjusting wheel shaft (35) are respectively arranged on the first tension bottom plate (22), the second tension bottom plate (23), the third tension bottom plate (24) and the fourth tension bottom plate (25);

the first tension adjusting wheel (30), the second tension adjusting wheel (32), the third tension adjusting wheel (33) and the fourth tension adjusting wheel (31) are respectively arranged on a first tension adjusting wheel shaft (34), a second tension adjusting wheel shaft, a third tension adjusting wheel shaft (37) and a fourth tension adjusting wheel shaft (35);

the front end surfaces of the first sensor (26), the second sensor (27), the third sensor (28) and the fourth sensor (29) are fixedly connected with the first tension bottom plate (22), the second tension bottom plate (23), the third tension bottom plate (24) and the fourth tension bottom plate (25) respectively; the rear end faces of the first sensor (26), the second sensor (27), the third sensor (28) and the fourth sensor (29) are respectively connected with a first tension adjusting wheel motor (38), a second tension adjusting wheel motor (40), a third tension adjusting wheel motor (41) and a fourth tension adjusting wheel motor (39) through a coupler and a bolt;

the first tension adjusting wheel motor (38), the second tension adjusting wheel motor (40), the third tension adjusting wheel motor (41) and the fourth tension adjusting wheel motor (39) drive the shaft coupling and the bolt to rotate, so that the positions of the first sliding block (18), the second sliding block (19), the third sliding block (20) and the fourth sliding block (21) are changed, and the function of adjusting the rigidity of the end effector (105) is further realized;

further, when the initial state of the first driving rope (14) is in a slack state, adjusting the position of the first tensioning wheel (58) by adjusting the screwing length of the first threaded rod (70), so as to adjust the initial tension of the first driving rope in real time;

further, when the initial state of the second driving rope (16) is in a loose state, the position of the second tensioning wheel (60) is adjusted by adjusting the screwing length of the second threaded rod (72), so that the initial tension of the first driving rope is adjusted in real time;

further, when the initial state of the third driving rope (15) is in a slack state, the position of the third tension wheel (61) is adjusted by adjusting the screwing length of the third threaded rod (73), so that the initial tension of the third driving rope (15) is adjusted in real time;

further, when the initial state of the fourth driving rope (17) is in a slack state, the position of the fourth tensioning wheel (59) is adjusted by adjusting the screwing length of the fourth threaded rod (71), so that the initial tension of the fourth driving rope (17) is adjusted in real time;

further, when the first driving rope (14) is in a working state, the first sensor (26) transmits the measured tension of the first driving rope to a control system, when the measured tension is larger than a preset tension range, the control system controls the first tension adjusting wheel motor (38) to rotate, the position of the first tension adjusting wheel (30) is adjusted, the tension of the first driving rope (14) is reduced to be within the preset tension range, when the measured tension is smaller than the preset tension range, the control system controls the first tension adjusting wheel motor (38) to rotate, the position of the first tension adjusting wheel (30) is adjusted, and the tension of the first driving rope (14) is increased to be within the preset tension range;

further, when the second driving rope (16) is in a working state, the second sensor (27) transmits the measured tension of the second driving rope (16) to the control system, when the measured tension is larger than a preset tension range, the control system controls the second tension adjusting wheel motor (40) to rotate, adjusts the position of the second tension adjusting wheel (32) to reduce the tension of the second driving rope (16) to be within the preset tension range, and when the measured tension is smaller than the preset tension range, the control system controls the second tension adjusting wheel motor (40) to rotate, adjusts the position of the second tension adjusting wheel (32) to increase the tension of the second driving rope (16) to be within the preset tension range;

further, when the third driving rope (15) is in a working state, the third sensor (28) transmits the measured tension of the third driving rope (15) to the control system, when the measured tension is larger than a preset tension range, the control system controls the third tension adjusting wheel motor (41) to rotate, adjusts the position of the third tension adjusting wheel (33) to reduce the tension of the third driving rope (15) to be within the preset tension range, and when the measured tension is smaller than the preset tension range, the control system controls the third tension adjusting wheel motor to rotate, adjusts the position of the third tension adjusting wheel (33) to increase the tension of the third driving rope (15) to be within the preset tension range;

further, when the fourth driving rope (17) is in a working state, the fourth sensor (29) transmits the measured tension of the fourth driving rope (17) to the control system, when the measured tension is larger than a preset tension range, the control system controls the fourth tension adjusting wheel motor (39) to rotate, adjusts the position of the fourth tension adjusting wheel (31) to reduce the tension of the fourth driving rope (17) to the preset tension range, and when the measured tension is smaller than the preset tension range, the control system rotates the fourth tension adjusting wheel motor (39) to adjust the position of the fourth tension adjusting wheel (31) to increase the tension of the fourth driving rope (17) to the preset tension range.

2. The drive mechanism of a rope-driven redundant robot according to claim 1, wherein: the third clamping plate (68) is identical to the first clamping plate (66) in structure, and the fourth clamping plate (69) is identical to the second clamping plate (67) in structure; the third clamping plate (68) is identical to the first clamping plate (66) in structure, and the fourth clamping plate (69) is identical to the second clamping plate (67) in structure.

3. The drive mechanism of a rope-driven redundant robot according to claim 1, wherein: the first guide wheel (42), the second guide wheel (43), the third guide wheel (47), the fourth guide wheel (46), the fifth guide wheel (48), the sixth guide wheel (49), the seventh guide wheel (45) and the eighth guide wheel (44) are identical in structure; the first guide wheel shaft (50), the second guide wheel shaft (51), the third guide wheel shaft (55), the fourth guide wheel shaft (54), the fifth guide wheel shaft (56), the sixth guide wheel shaft (57), the seventh guide wheel shaft (53) and the eighth guide wheel shaft (52) are identical in structure.

4. The drive mechanism of a rope-driven redundant robot according to claim 1, wherein: the first tension bottom plate (22), the second tension bottom plate (23), the third tension bottom plate (24) and the fourth tension bottom plate (25) are identical in structure.

5. The drive mechanism of a rope-driven redundant robot according to claim 1, wherein: the first threaded rod (70), the second threaded rod (72), the third threaded rod (73) and the fourth threaded rod (71) are identical in structure.

6. The drive mechanism of a rope-driven redundant robot according to claim 1, wherein: the first sliding block (18), the second sliding block (19), the third sliding block (20) and the fourth sliding block (21) are identical in structure; the first guide rail (101), the second guide rail (103), the third guide rail (104) and the fourth guide rail (102) are identical in structure.

7. The drive mechanism of a rope-driven redundant robot according to claim 1, wherein: the measuring ranges of the first sensor (26), the second sensor (27), the third sensor (28) and the fourth sensor (29) are the same.

8. The drive mechanism of a rope-driven redundant robot according to claim 1, wherein: the first tension adjusting wheel (30), the second tension adjusting wheel (32), the third tension adjusting wheel (33) and the fourth tension adjusting wheel (31) are identical in structure; the first tension adjusting wheel shaft (34), the second tension adjusting wheel shaft (36), the third tension adjusting wheel shaft (37) and the fourth tension adjusting wheel shaft (35) are identical in structure.

9. The drive mechanism of a rope-driven redundant robot according to claim 1, wherein: the first tension bottom plate (22), the second tension bottom plate (23), the third tension bottom plate (24) and the fourth tension bottom plate (25) are identical in structure.

10. The drive mechanism of a rope-driven redundant robot according to claim 1, wherein: the first driving rope (14), the second driving rope (16), the third driving rope (15) and the fourth driving rope (17) are made of the same material and are made of the same shape, and the material is made of stainless steel materials.