Rope-driven robot and driving method

Abstract

The invention discloses a rope-driven robot. A servo motor array formed by arranging a plurality of servo motors in an array mode, a coupler array, a ball screw array and a bearing array are installed in a body frame body of the robot, wherein the coupler array and the ball screw array are installed corresponding to the servo motor array, and the bearing array is used for fixing ball screws. Each servo motor correspondingly drives a lead screw nut arranged on each ball screw to do independent reciprocating motion, traction plates are installed on the lead screw nuts and connected with an annular traction rope of a traction rope mechanism to do reciprocating motion, and the annular traction rope drives a driving groove wheel installed at a robot motion joint to rotate so as to drive a motion limb to do rotary motion. According to the rope-driven robot, the servo motors and the ball screws which are arranged in an array mode are matched with the traction rope mechanism, space and weight can be saved, power output concentrated arrangement is adopted, motor arrangement on mechanical limbs can be greatly reduced, the overall structure is simplified, therefore the weight and the size of the mechanical limbs such as a mechanical arm are reduced, and the tail end load is increased.

Description

technical field [0001] The invention relates to a rope-driven robot, which belongs to the technical field of robots. Background technique [0002] Most of the joints of the existing humanoid robots are controlled by transmissions such as motor acceleration and deceleration machines or synchronous belts. Many components such as motors and deceleration machines are on the joints or arms. Due to the limited size of the robot, the power of the selected motor cannot be very high. Large, which leads to a significant reduction in the end load capacity of the robot. In addition, the joints of a few robots are controlled by hydraulic transmission, but the hydraulic transmission has leakage problems, and it is troublesome to refuel during the assembly process. [0003] In order to make the humanoid robot more flexible, light in weight and strong in load capacity, the existing technology cannot complete it and needs to continue to innovate. Contents of the invention [0004] In ord...

AI Technical Summary

Problems solved by technology

[0002] Most of the joints of the existing humanoid robots are controlled by transmissions such as motor acceleration and deceleration machines or synchronous belts. Many components such as motors and deceleration machines are on the joints or arms. Due to the limited size of the robot, the power of the selected motor cannot be very high. Large, which leads to a greatly reduced load capacity at the end of the robot

In addition, the joints of a few robots are controlled by hydraulic transmission, but the hydraulic transmission has leakage problems, and it is troublesome to refuel during the assembly process.

[0003] In order to make the humanoid robot more flexible, light in weight, and strong in load capacity, the existing technology cannot complete it and needs to continue to innovate

Images