CN114526934B - Flexible detection robot capable of automatically tensioning driving rope and control method thereof - Google Patents
Flexible detection robot capable of automatically tensioning driving rope and control method thereof Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention relates to a flexible detection robot with an automatic tensioning driving rope and a control method thereof, the flexible detection robot is provided with a movable frame, a movable traction assembly is arranged on the frame, a motor module for driving the traction assembly to move is arranged on the left side of the frame, a guide assembly is arranged on the right side of the frame, a bending joint is arranged on the guide assembly, the bending joint is formed by connecting a plurality of bending units with mortise joints through mortise joints, the front end of each bending unit is connected with a detection probe, driving ropes for controlling the action of the bending joint are uniformly distributed on the outer circumference of a hollow channel of each bending unit, and the driving ropes are connected with the bottom end of the traction assembly after being guided by the guide assembly. The invention realizes the tensioning of the driving rope of the continuum robot by changing the compression amount of the compression spring in the guide assembly and feeds back and compensates the deformation of the driving rope, and has the advantages of reducing the frequency of replacing the driving rope, saving the cost, improving the efficiency and controlling the like.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a flexible detection robot capable of automatically tensioning a driving rope and a control method thereof.
Background
The rope-driven continuous flexible robot is widely applied to the fields of medical treatment, rescue and the like, but the driving rope is very easy to be subjected to tension lengthening and loosening, so that the control precision of the robot is influenced, even potential safety hazards are generated, but in order to reduce the coupling of the rope and a bending body as much as possible, the system precision is improved, the inner diameter of a rope hole of the bending body is close to the diameter of the driving rope, and the replacement of the driving rope is quite difficult; on the other hand, the different driving ropes of the robot are affected by tension in the working process, so that the rope length variation is different, the swing amplitude of the bending unit is large in the running process, the impact on the working environment is large, and the motor is required to be cooperatively controlled in the existing traditional structure, so that the control algorithm is complex, and the realization cost is high.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to overcome the defects in the prior art, the invention provides the flexible detection robot for automatically tensioning the driving rope and the control method thereof, which realize the tensioning of the rope length of the rope driving continuum robot in the running process and the compensation and zero recovery of the rope length of the deformed continuum robot.
The technical scheme adopted for solving the technical problems is as follows: the flexible detection robot with the automatic tensioning of the driving rope is provided with a movable frame, a movable traction assembly is arranged on the frame, a motor module for driving the traction assembly to move is arranged on the left side of the frame, a guide assembly is arranged on the right side of the frame, and a bending joint is arranged on the guide assembly.
The motor module comprises: the device is provided with a transmission screw rod rotatably arranged between a left side plate and a right side plate of the frame, a brushless direct current motor is arranged at the end of the left side plate of the frame, and the brushless direct current motor is in transmission connection with the transmission screw rod through a coupler;
the traction assembly is provided with a fixed bracket and a movable bracket hinged with the middle part of the fixed bracket, a screw nut in transmission connection with a transmission screw is fixed at the center of the fixed bracket, and a tension sensor connected with the movable bracket at a detection point is fixed at the upper end of the fixed bracket;
the guide assembly: the fixed frame, the movable pulley and the fixed pulley are rotatably arranged on the fixed frame through respective bearing seats, wherein a compression spring is arranged in a chute where the bearing seat of the movable pulley is arranged on the fixed frame;
the bending joint: the device is formed by connecting a plurality of bending units through mortise joints, a core column spring penetrating through the bending joints is arranged in a hollow channel of each bending unit, the front end of each bending unit is connected with a detection probe, driving ropes for controlling the bending units to act are circumferentially and uniformly distributed on the outer side of the hollow channel of each bending unit, and the driving ropes are connected with the bottom end of a movable support of a traction assembly after being guided by fixed pulleys and movable pulleys of a guide assembly;
the distance between the detection point of the connection of the tension sensor and the movable support and the hinging point in the middle of the fixed support is the same as the distance between the connection point of the driving rope and the fixed support and the hinging point in the middle of the fixed support.
Specifically, the frame bottom be equipped with the moving platform that promotes the frame and remove, moving platform has the base, installs drive screw on the base, is fixed with the slide rail on the base that is located drive screw both sides, and step motor is installed to base one side, and step motor passes through the shaft coupling and is connected with drive screw transmission, drive screw go up to rotate and be connected with the slider of frame bottom rigid coupling, slider and slide rail sliding fit.
Preferably, the bending joint is provided with two sections, the detection probe is arranged on the front end face of the bending unit of the previous section of bending joint, twelve driving rope holes for penetrating the driving ropes are circumferentially and uniformly distributed on the outer side of the hollow channel of the bending unit, and one bending joint is controlled by three driving ropes distributed at intervals of 120 degrees.
Further, in order to prevent the stem spring from rotating in the hollow channel and affecting the control precision, the diameters of the hollow channels of the two bending units at the head and tail positions of the bending joint are smaller than those of the hollow channel of the middle bending unit, and the head and tail ends of the stem spring are fixed with the top ends and the tail ends of the bending units.
The mortise joint and the mortise joint are arranged on two sides of the bending unit in a crisscross manner, and the bending unit is assembled in a front-back staggered manner so as to realize two-degree-of-freedom rotation of one bending joint.
In order to ensure that the paths of the driving ropes passing through the two sides of the movable pulley are parallel to the compression springs, the axial center distance of the movable pulley and the fixed pulley in the horizontal direction after the movable pulley and the fixed pulley are installed is the sum of the radiuses of the two pulleys.
The lowest position that the movable pulley can descend is higher than the position of the fixed pulley, and as the tensioning of the driving rope is different in feeding quantity respectively when the brushless direct current motor can not cooperatively control in the control process, the driving rope indirectly acts on the compression spring arranged under the movable pulley by utilizing the elastic characteristics of the compression spring, and the compression spring automatically adjusts the compression quantity according to the tension of the driving rope to keep the tensioning of the driving rope, so that the driving rope is prevented from being damaged due to overlarge tension or the swinging amplitude of the driving rope loosening and bending unit is prevented from being overlarge.
A control method of a flexible detection robot adopting the automatic tensioning of the driving rope comprises the following steps:
s1, before detection, pushing the continuous detection robot to a specified position, and conveying the detection probe to the specified position under the action of a driving rope;
s2, selecting a compression spring with proper rigidity according to the number of the assembled bending units and the material of the driving rope, determining the precompression amount of the compression spring according to the maximum variation between the selected compression spring and the driving rope corresponding to the bending joint, connecting the driving rope of the bending joint penetrating in the vertical state with a movable bracket of a traction assembly, enabling the driving rope to have a certain pretension, calibrating the corresponding position at the moment as a zero position, and transmitting the tension value of the driving rope detected at the moment to an upper computer by a tension sensor and storing the tension value as a threshold value N 0 ；
S3, after the detection robot is started up each time, the brushless direct current motor drives the traction assembly to return to the zero position, and then the detection value N of the tension sensor and the threshold value N at the moment are combined 0 Comparing with threshold value N 0 If the compression spring and the bending joint are not in the zero state, the brushless direct current motor is controlled to pull the driving rope until the compression spring returns to the zero state, and zero return is completed;
and S4, after zero recovery is completed, the frame moves the continuous detection robot to a designated position, then the upper computer of the system calculates the model variable quantity delta L1 of the driving rope by using inverse kinematics according to the target point, calculates the feeding quantity delta L2 required to be compensated according to the fed back tension value of the driving rope, delta L2 = 2 (N-N0)/K, and finally calculates the actual rope length feeding quantity of the driving rope as delta L and outputs the feeding quantity, and then delta L = delta L1+ delta L2.
The beneficial effects of the invention are as follows: the bending unit is connected into the rigid part by the mortise and tenon structure, so that the rigidity and the load of the continuous detection robot are improved, the core column spring is additionally arranged in the hollow channel, the elastic support is provided, the left and right limiting function of the bending unit is realized, the subsequent light weight and quick assembly are facilitated by the unique mortise and tenon connection and the core column spring, and compared with the traditional riveting, the continuous detection robot is more convenient and has lighter weight; the movable pulley of the guide assembly is provided with a compression spring in a downward-falling mode, the tension of the driving rope in the running process is kept by utilizing the characteristics of the compression spring, the elasticity of the whole rigid continuum system is improved, the inconvenience of replacing the driving rope and the unique tensioning structure are considered, the driving rope compensation and zero-position recovery method is provided, the replacement frequency of the driving rope is reduced, and the control precision is improved.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of the mobile platform according to the present invention.
Fig. 3 is a schematic view of the traction assembly of the present invention.
Fig. 4 is a schematic view of the structure of the guide assembly according to the present invention.
Fig. 5 is a schematic view of the structure of the bending joint according to the present invention.
Fig. 6 is a schematic view of an assembled structure of the bending unit according to the present invention.
In the figure:
1. the device comprises a moving platform, a base, a driving screw, a sliding rail, a stepping motor and a sliding block, wherein the moving platform is 1-1, the base is 1-2, the driving screw is 1-3, the sliding rail is 1-4, and the stepping motor is 1-5;
2. a motor module, 2-1, a transmission screw rod and 2-2, a brushless direct current motor;
3. the traction assembly comprises 3-1 parts of fixed brackets, 3-2 parts of movable brackets, 3-3 parts of lead screw nuts and 3-4 parts of tension sensors;
4. guide component, 4-1, fixing frame, 4-2, movable pulley, 4-3, fixed pulley and 4-4, compression spring
5. Bending joints, 5-1 bending units, 5-2 mortise joints, 5-3 mortise joints, 5-4 core column springs, 5-5 detection probes and 5-6 driving ropes;
6. a frame.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
The flexible detection robot with the automatic tensioning of the driving rope as shown in fig. 1-6 comprises a moving platform 1, a motor module 2, a traction assembly 3, a guide assembly 4 and a bending joint 5.
The mobile platform 1 is provided with a base 1-1, a driving screw 1-2 is arranged on the base 1-1, a sliding rail 1-3 is fixed on the base 1-1 positioned on two sides of the driving screw 1-2, a stepping motor 1-4 is arranged on one side of the base 1-1, the stepping motor 1-4 is in transmission connection with the driving screw 1-2 through a coupler, a sliding block 1-5 is rotatably arranged on the driving screw 1-2, and the sliding block 1-5 is in sliding fit with the sliding rail 1-3.
The sliding block 1-5 is fixedly provided with a frame 6, six sets of traction components 3 which are uniformly distributed circumferentially are arranged between the left side plate and the right side plate of the frame 6, the left side plate end of the frame 6 is provided with a motor module 2 corresponding to the traction components 3, the center of the right side plate of the frame 6 is fixedly provided with a bending joint 5, and the right side plate of the frame 6 is provided with a guide component 4 corresponding to the traction components 3.
The motor module 2: the brushless direct current motor 2-2 is fixed on a flange plate and is in transmission connection with the transmission lead screw 2-1 through a coupler.
The traction assembly 3: the device comprises a fixed support 3-1 and a movable support 3-2 hinged with the middle part of the fixed support 3-1, wherein a screw nut 3-3 in transmission connection with a transmission screw 2-1 is fixed at the central position of the fixed support 3-1, and a tension sensor 3-4 with a detection point connected with the movable support 3-2 is fixed at the upper end of the fixed support 3-1;
the guide assembly 4: the movable pulley 4-2 and the fixed pulley 4-3 are rotatably arranged on the fixed frame 4-1 through respective bearing seats, wherein a compression spring 4-4 is arranged in a chute in which the bearing seat of the movable pulley 4-2 is arranged on the fixed frame 4-1.
The bending joint 5: each section of bending joint 5 is formed by connecting a plurality of bending units 5-1 through mortise joints 5-2 and mortise joints 5-3, each bending unit 5-1 is made of high-hardness materials, the center of the inside of each bending unit is a hollow channel, the mortise joints 5-2 and the mortise joints 5-3 are arranged on two sides of each bending unit 5-1 in a crisscross manner, and the front bending units 5-1 and the rear bending units 5-1 are assembled in a staggered manner, so that two-degree-of-freedom rotation of one section of bending joint 5 is realized.
The core column springs 5-4 penetrating through the two sections of bending joints 5 are arranged in the hollow channels of the bending units 5-1, the core column springs 5-4 are made of super-elastic materials and are in interference fit with the hollow channels, the function of elastic support is achieved, and the control accuracy is prevented from being affected due to the fact that the core column springs 5-4 rotate with the bending units 5-1.
The diameters of the hollow channels of the two bending units 5-1 positioned at the head and tail positions of the bending joint 5 are smaller than those of the hollow channel of the middle bending unit 5-1, the head and tail ends of the stem springs 5-4 are fixed with the top end and the tail end of the bending unit 5-1, and the stem springs 5-4 are prevented from sliding in the hollow channel.
The front end of the bending unit 5-1 of the previous section of bending joint 5 is connected with a detection probe 5-5, the detection probe 5-5 can be sent to a designated position for detection through a flexible arm formed by the bending joint 5, and the wiring of the detection probe 5-5 can pass through the inside of the stem spring 5-4 in a hollow mode.
Twelve driving rope holes are circumferentially and uniformly distributed on the outer side of the hollow channel of each bending unit 5-1, three driving ropes 5-6 are adopted by one bending joint 5, and each driving rope 5-6 is spaced by 120 degrees, so that at most four bending joints 5 can be driven. The rear end of the driving rope 5-6 is limited on a bending unit 5-1 at the tail end of the bending joint 5 at the rear section and then connected to a fixed pulley 4-3 of the guiding component 4, the driving rope bypasses the fixed pulley 4-3 and then winds on a movable pulley 4-2, the driven pulley 4-2 finally comes out to be connected with the bottom end of a movable support 3-2 of the traction component 3, and during testing, the driving screw 2-1 is rotated through a brushless direct current motor 2-2 to move the traction component 3 to pull the driving rope 5-6.
The distance between the detection point of the connection of the tension sensor 3-4 and the movable support 3-2 and the middle hinging point of the fixed support 3-1 is the same as the distance between the connection point of the fixed connection of the driving rope 5-6 and the movable support 3-2 and the middle hinging point of the fixed support 3-1, and the detection value of the tension sensor 3-4 is the tension value of the driving rope 5-6 according to the equal arm lever principle, and the tension value is uploaded to a control system to serve as the calculation parameter of the control instruction of the brushless direct current motor 2-2.
When the bending joint is installed, after the mortise joint 5-2 is pushed into the mortise joint 5-3 from the side surface of the bending unit 5-1, the mortise joint 5-2 of the subsequent bending unit 5-1 is wrapped by the mortise joint 5-3 of the previous bending unit 5-1, wherein the mortise joint 5-2 is connected with the mortise joint 5-3, so that the bending joint 5 can be fixed up and down, the core column spring 5-4 is fixed after passing through a hollow channel of the bending unit 5-1, the left and right sliding of the upper and lower bending units 5-1 is limited, and the light weight and the modularized rapid installation of the bending joint 5 are realized.
The bearing seat of the movable pulley 4-2 arranged in the guide assembly 4 can slide up and down in the chute of the fixed frame 4-1 and act on the compression spring 4-4, the tensioning of the driving rope 5-6 aims at that when the direct current brushless motor 2-2 cannot cooperatively control in the control process, the feeding amounts of different driving ropes 5-6 are different, the elastic characteristics of the compression spring 4-4 are utilized, if the driving rope 5-6 loosens the compression spring 4-4, the driving rope 5-6 can rebound to tension, otherwise, the driving rope 5-6 is excessively tensioned, and the compression spring 4-4 continues to compress.
The axle center distance between the movable pulley 4-2 and the fixed pulley 4-3 is the sum of the two pulley radiuses, the driving rope 5-6 is vertically connected with the movable pulley 4-2 after bypassing the fixed pulley 4-3, and is vertically connected with the movable bracket 3-2 of the traction assembly 3 after bypassing the movable pulley 4-2, so that the path of the driving rope 5-6 bypassing the movable pulley 4-2 is ensured to be parallel to the compression spring 4-4; the lowest position of the movable pulley 4-2 which can descend during assembly is higher than the position of the fixed pulley 4-3, so that the phenomenon of loosening and slipping of the driving rope 5-6 is avoided.
The control method for automatic tension compensation of the driving rope 5-6 comprises the following steps: the linear push-pull motion of the moving platform 1, the circumferential bending motion of the bending joint 5, and the detection process of the whole bending joint 5 is as follows: before interventional detection, the whole continuous detection robot is pushed to a designated position on the mobile platform 1, the bending joint 5 is divided into two sections with four bending degrees of freedom, and the detection probe 5-5 is sent to the designated position under the action of the driving rope 5-6.
Step 1-1, firstly selecting a compression spring 4-4 with proper rigidity (K) according to the number of the assembled bending units 5-1 and the materials of the driving ropes 5-6, then determining the precompression amount of the compression spring 4-4 according to the maximum variation amount between the selected compression spring 4-4 and the driving ropes 5-6 corresponding to the bending joints 5, connecting the driving ropes 5-6 of the bending joints 5 penetrating through the bending joints in a vertical state with the movable bracket 3-2 of the traction assembly 3, allowing the driving ropes 5-6 to have a certain pretension, calibrating the corresponding position at the moment as a zero position, and finally transmitting the detected tension value of the driving ropes 5-6 to an upper computer by the tension sensor 3-4 and storing the tension value as a threshold value N 0 ；
Step 1-2, after each time the detection robot is started, the brushless direct current motor 2-2 drives the traction assembly 3 to return to the zero position, and then the detection value N of the tension sensor 3-4 and the threshold value N at the moment 0 Comparing with threshold value N 0 If the compression springs 4-4 and the bending joints 5 are not in zero positions, the brushless direct current motor 2-2 is controlled to pull the driving rope 5-6 until the compression springs 4-4 return to zero positions, and zero position return is completed;
step 1-3, after zero recovery is completed, a stepping motor 1-4 of the mobile platform 1 moves the continuum detection robot to a designated position, then a system upper computer calculates a model variable delta L1 of the driving rope 5-6 according to a target point by using inverse kinematics, calculates a feeding quantity delta L2 required to be compensated according to a tension value of the driving rope 5-6 fed back, delta L2=2 (N-N0)/K, and finally calculates an actual rope length feeding quantity delta L of the driving rope 5-6 and outputs the feeding quantity delta L, and then delta L=delta L1+delta L2.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (7)
1. A flexible detection robot with a movable frame for automatically tensioning a driving rope is characterized in that: the movable traction assembly is arranged on the frame, the motor module for driving the traction assembly to move is arranged on the left side of the frame, the guide assembly is arranged on the right side of the frame, and the bending joint is arranged on the guide assembly;
a motor module: the device is provided with a transmission screw rod rotatably arranged between a left side plate and a right side plate of the frame, a brushless direct current motor is arranged at the end of the left side plate of the frame, and the brushless direct current motor is in transmission connection with the transmission screw rod through a coupler;
the traction assembly is provided with a fixed bracket and a movable bracket hinged with the middle part of the fixed bracket, a screw nut in transmission connection with a transmission screw is fixed at the center of the fixed bracket, and a tension sensor for detecting points connected with the movable bracket is fixed at the upper end of the fixed bracket;
and a guide assembly: the movable pulley and the fixed pulley are rotatably arranged on the fixed frame through respective bearing seats, wherein a compression spring is arranged in a chute in which the bearing seat of the movable pulley is arranged on the fixed frame;
bending joint: the device is formed by connecting a plurality of bending units through mortise joints, a core column spring penetrating through the bending joints is arranged in a hollow channel of each bending unit, the front end of each bending unit is connected with a detection probe, driving ropes for controlling the bending units to act are circumferentially and uniformly distributed on the outer side of the hollow channel of each bending unit, and the driving ropes are connected with the bottom end of a movable support of a traction assembly after being guided by fixed pulleys and movable pulleys of a guide assembly;
the distance between the detection point of the connection of the tension sensor and the movable support and the hinging point in the middle of the fixed support is the same as the distance between the connecting point of the fixedly connected driving rope and the movable support and the hinging point in the middle of the fixed support;
the bearing seat of the movable pulley in the guide assembly can slide up and down in the chute of the fixed frame and acts on the compression spring, the tensioning of the driving rope aims at that when the direct current brushless motor cannot cooperatively control in the control process, the feeding amounts of different driving ropes are different, the elastic characteristics of the compression spring are utilized, if the driving rope loosens the compression spring, the driving rope can rebound to tension, otherwise, the compression spring continues to compress when the pulling force of the driving rope is too large;
the axle center distance between the movable pulley and the fixed pulley is the sum of the radiuses of the two pulleys, the driving rope is vertically connected to the movable pulley after bypassing the fixed pulley, and is vertically connected with the movable bracket of the traction assembly after bypassing the movable pulley so as to ensure that the path of the driving rope bypassing the movable pulley is parallel to the compression spring; the lowest position of the movable pulley which can descend is higher than the position of the fixed pulley so as to avoid the phenomenon of loosening and slipping of the driving rope.
2. The flexible inspection robot with automatic tensioning of drive lines according to claim 1, wherein: the machine frame bottom be equipped with the moving platform who promotes the frame and remove, moving platform has the base, installs drive screw on the base, is fixed with the slide rail on the base that is located drive screw both sides, and step motor is installed to base one side, and step motor passes through the shaft coupling and is connected with drive screw transmission, drive screw go up to rotate and be connected with the slider with frame bottom rigid coupling, slider and slide rail sliding fit.
3. The flexible inspection robot with automatic tensioning of drive lines according to claim 1, wherein: the bending joint is provided with two sections, the detection probe is arranged on the front end face of the bending unit of the previous section of bending joint, twelve driving rope holes for penetrating the driving ropes are circumferentially and uniformly distributed on the outer side of the hollow channel of the bending unit, and one bending joint is controlled by three driving ropes distributed at intervals of 120 degrees.
4. A flexible inspection robot with automatic tensioning of drive lines as claimed in claim 3, characterized in that: the diameters of the hollow channels of the two bending units at the head and tail positions of the bending joint are smaller than those of the hollow channel of the middle bending unit, and the head and tail ends of the stem spring are fixed with the top end and the tail end of the bending unit.
5. A flexible inspection robot with automatic tensioning of drive lines as claimed in claim 3, characterized in that: the mortise joint and the mortise joint are arranged on two sides of the bending unit in a crisscross manner, and the bending unit is assembled in a front-back staggered manner to realize two-degree-of-freedom rotation of one bending joint.
6. The flexible inspection robot with automatic tensioning of drive lines according to claim 1, wherein: the center distance of the movable pulley and the fixed pulley in the horizontal direction after being installed is the sum of the radiuses of the two pulleys, and the lowest position of the movable pulley which can descend is higher than the position of the fixed pulley.
7. A control method of a flexible inspection robot for automatically tensioning a drive rope according to claim 1, characterized by: the method comprises the following steps:
s1, before detection, pushing the continuous detection robot to a specified position, and conveying the detection probe to the specified position under the action of a driving rope;
s2, selecting a compression spring with proper rigidity according to the number of the assembled bending units and the material of the driving rope, determining the precompression amount of the compression spring according to the maximum variation between the selected compression spring and the driving rope corresponding to the bending joint, connecting the driving rope of the bending joint penetrating in the vertical state with a movable bracket of a traction assembly, enabling the driving rope to have a certain pretension, calibrating the corresponding position at the moment as a zero position, and transmitting the tension value of the driving rope detected at the moment to an upper computer by a tension sensor and storing the tension value as a threshold value N 0 ；
S3, after the detection robot is started up each time, the brushless direct current motor drives the traction assembly to return to the zero position, and then the detection value N of the tension sensor and the threshold value N at the moment are combined 0 Comparing with threshold value N 0 If the compression spring and the bending joint are not in the zero state, the brushless direct current motor is controlled to pull the driving rope until the compression spring returns to the zero state, and zero return is completed;
and S4, after zero recovery is completed, the frame moves the continuous detection robot to a designated position, then the upper computer of the system calculates the model variable quantity delta L1 of the driving rope by using inverse kinematics according to the target point, calculates the feeding quantity delta L2 required to be compensated according to the fed back tension value of the driving rope, delta L2 = 2 (N-N0)/K, and finally calculates the actual rope length feeding quantity of the driving rope as delta L and outputs the feeding quantity, and then delta L = delta L1+ delta L2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210143103.8A CN114526934B (en) | 2022-02-16 | 2022-02-16 | Flexible detection robot capable of automatically tensioning driving rope and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210143103.8A CN114526934B (en) | 2022-02-16 | 2022-02-16 | Flexible detection robot capable of automatically tensioning driving rope and control method thereof |
Publications (2)
| Publication Number | Publication Date |
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| CN114526934A CN114526934A (en) | 2022-05-24 |
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| CN114800619B (en) * | 2022-06-10 | 2023-07-04 | 北京通用人工智能研究院 | Line traction driving device of flexible continuum robot |
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