Rope-driven robot

Abstract

The invention provides a rope-driven robot, relates to the technical field of robots, and aims to solve the problem that a traditional industrial mechanical arm is heavy due to the fact that a motor is arranged in the mechanical arm. The rope-driven robot comprises a chassis, a body, mechanical arms and a motor assembly, wherein the body is mounted on the chassis; the mechanical arm is installed on the body, the mechanical arm comprises a shoulder structure, a large arm shell, an elbow joint, a small arm shell, a wrist structure and a tail end clamping jaw which are sequentially arranged, a rope driving assembly is arranged in the mechanical arm, and the rope driving assembly is configured to enable the shoulder structure to have the rotation freedom degree and enable the elbow joint to have the buckling freedom degree; the wrist structure has a rotation degree of freedom, a first swing degree of freedom and a second swing degree of freedom; the shoulder structure also has a pitching degree of freedom and a deflection degree of freedom; the motor assembly comprises a mounting frame and a motor assembly, and the motor assembly is in driving connection with the rope driving assembly. The mechanical arm is light and handy.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a rope-driven robot. Background Art

[0002] With the continuous deepening of research on robot technology, the performance and application scenarios of robotic arms are constantly expanding. In any usage scenario, higher requirements are placed on the response speed of the robotic arm and the safety of human-machine interaction. However, the shortcomings of traditional industrial robotic arms in different usage scenarios are gradually becoming apparent, including: (1) Traditional robotic arm joints usually place electrical components such as motors inside the joints of the robotic arm, resulting in a relatively bulky robotic arm with a complex internal structure; (2) The built-in electrical components result in a relatively even weight distribution at each joint of the robotic arm, and the distal end of the robotic arm still maintains a large mass inertia, resulting in a slow response speed; (3) The overall rigidity of the robotic arm and its large mass inertia will cause a large impact on the surrounding personnel when encountering encoder failures and power outages, resulting in poor safety.

[0003] Therefore, this patent aims to provide a rope-driven robot to solve the problem that traditional industrial robotic arms are bulky because the motor is arranged inside the robotic arm. Summary of the invention

[0004] The object of the present invention is to provide a rope-driven robot to solve the technical problem that a conventional industrial robot arm is relatively heavy because a motor is arranged inside the robot arm.

[0005] The rope-driven robot provided by the present invention comprises a chassis, a body, a mechanical arm and a motor assembly, wherein the body is mounted on the chassis; the mechanical arm is mounted on the body, the mechanical arm comprises a shoulder structure, a large arm shell, an elbow joint, a small arm shell, a wrist structure and an end clamp arranged in sequence, a rope driving assembly is arranged inside the mechanical arm, and the rope driving assembly is configured to enable the shoulder structure to have a rotational degree of freedom, the elbow joint to have a flexion degree of freedom, and the wrist structure to have a rotational degree of freedom, a first swinging degree of freedom and a second swinging degree of freedom, and the rotation of the shoulder structure The rotation axis extends in the front-to-back direction, the rotation axis of the wrist structure extends in the length direction of the robotic arm, the swing axes of the first swing degree of freedom and the second swing degree of freedom are perpendicular to each other and are both perpendicular to the rotation axis of the wrist structure; the shoulder structure also has a pitch degree of freedom and a yaw degree of freedom, the pitch axis of the shoulder structure extends in the left-right direction, and the yaw axis of the shoulder structure extends in the up-down direction; the motor assembly includes a mounting frame for connecting to the torso and a motor assembly arranged on the mounting frame, and the motor assembly is drivingly connected to the rope drive assembly.

[0006] Further, the body includes a first parallelogram linkage frame, a first driving mechanism, a second parallelogram linkage frame and a second driving mechanism, wherein the first parallelogram linkage frame includes a relative base and a connecting seat, and a first rod group rotatably arranged between the base and the connecting seat, and the first driving mechanism is installed on the base to drive the first rod group to rotate; the second parallelogram linkage frame includes the connecting seat and an upper support opposite to the connecting seat, and a second rod group rotatably arranged between the connecting seat and the upper support, and the second driving mechanism is installed on the connecting seat to drive the second rod group to rotate; the base is installed on the chassis, the shoulder structure is installed on the upper support, and the mounting frame is installed on the second parallelogram linkage frame.

[0007] Further, the first rod group includes a plurality of first connecting rods, the first driving mechanism includes a first motor, a first worm and a first worm wheel, the body of the first motor is mounted on the base, the motor shaft of the first motor is connected to the first worm by transmission, the first worm wheel is relatively fixed to one of the plurality of first connecting rods and is coaxial with the rotating shaft of the first connecting rod, and the first worm wheel is meshed with the first worm for transmission;

[0008] The second rod group includes multiple second connecting rods, and the second driving mechanism includes a second motor, a second worm and a second worm wheel. The body of the second motor is installed on the connecting seat, and the motor shaft of the second motor is connected to the second worm wheel for transmission. The second worm wheel is relatively fixed to one of the multiple second connecting rods and is coaxial with the rotating shaft of the second connecting rod. The second worm wheel is meshingly driven with the second worm wheel.

[0009] Furthermore, a rotation limiting structure is provided between the second rod group and the connecting seat, and the rotation limiting structure is used to limit the rotation angle of the second rod group.

[0010] Further, the elbow joint includes a first roller and a second roller arranged tangentially, and a connecting frame, the first roller and the second roller are rotatably mounted on the connecting frame, and the first roller is pivotally connected to the lower arm housing, and the second roller is pivotally connected to the upper arm housing; the rope drive assembly includes a first elbow drive rope for driving the elbow joint to perform a lifting action and a second elbow drive rope for driving the elbow joint to perform a lowering action, the number of the first elbow drive ropes is greater than the number of the second elbow drive ropes, and the motor assembly includes an elbow motor, and each of the first elbow drive ropes is respectively connected to a different elbow motor.

[0011] Furthermore, a side of the first roller facing away from the second roller is the front of the elbow joint, and a side of the second roller facing away from the first roller is the back of the elbow joint, and one end of the first elbow driving rope and the second elbow driving rope are both fixedly connected to the first roller at the front; the rope driving assembly also includes a pressure wheel, which is rotatably pressed against the back, wherein the first elbow driving rope and the second elbow driving rope are both wound around the first roller and the second roller in a "∽" shape, and the winding directions of the first elbow driving rope and the second elbow driving rope are centrally symmetrical about the tangent point of the pressure wheel and the elbow joint.

[0012] Furthermore, the robotic arm is provided with a first bracket, the first bracket is provided with a plurality of first air pipe plugs, the mounting frame is connected to a second bracket, the second bracket is provided with a plurality of second air pipe plugs; the rope-driven robot also includes a Bowden wire tube, one end of the Bowden wire tube is plugged and fixed to the first air pipe plug, and the other end of the Bowden wire tube is plugged and fixed to the second air pipe plug, and the driving rope of the rope driving assembly passes through the first air pipe plug, the Bowden wire tube and the second air pipe plug in sequence, and is connected to the corresponding motor in the motor assembly.

[0013] Further, the shoulder structure includes a shoulder driving mechanism, a shoulder transmission mechanism and a rotating seat, wherein the shoulder transmission mechanism includes two driven bevel gears arranged to rotate around a vertical axis, and a planetary bevel gear simultaneously meshing with the two driven bevel gears, the two driven bevel gears are mirror-symmetrical in a horizontal plane, and the rotating seat is fixedly arranged on the planetary bevel gears; the shoulder driving mechanism is arranged in two groups, and the two groups of shoulder driving mechanisms correspond to the two groups of shoulder transmission mechanisms respectively, and the two groups of shoulder driving mechanisms are configured to: drive the two driven bevel gears to rotate in the same direction so as to drive the rotating seat to pitch through the planetary bevel gears, and drive the two driven bevel gears to rotate in the opposite direction so as to drive the rotating seat to deflect through the planetary bevel gears.

[0014] Furthermore, the shoulder structure also includes an adapter, which is rotatably connected to the rotating seat; the rope drive assembly also includes a shoulder rotating wheel and a shoulder driving rope, and the motor assembly also includes a shoulder rotating motor, the shoulder rotating wheel is coaxial with the rotating shaft of the adapter and is relatively fixed to the adapter, the shoulder driving rope is tightly wound around the shoulder rotating wheel, and both ends of the shoulder driving rope are connected to the motor shaft of the shoulder rotating motor; the upper arm housing is connected to the adapter.

[0015] Furthermore, the rope drive assembly also includes a first wrist swing rope group, a second wrist swing rope group, a wrist rotation rope group, a wrist rotation pulley, a wrist rotation shaft and a forearm connecting plate, wherein the wrist rotation pulley can be rotatably installed on the forearm housing around the wrist structure rotation axis, and the wrist rotation shaft is fixedly arranged on the wrist rotation pulley; the wrist rotation rope group includes a first wrist rotation driving rope and a second wrist rotation driving rope, the first wrist rotation driving rope and the second wrist rotation driving rope are wound around the wrist rotation pulley in opposite directions for driving the The wrist rotating pulley rotates in the opposite direction; the forearm connecting plate is fixedly connected to the forearm housing, and the forearm connecting plate is provided with an avoidance hole for the wrist rotating shaft to pass through, and the wrist structure is connected to the wrist rotating shaft; the forearm connecting plate is also provided with a plurality of rope passing holes, and the first wrist swinging rope group and the second wrist swinging rope group are both connected to the wrist structure through the rope passing holes, the first wrist swinging rope group is used to enable the wrist structure to have the first swinging degree of freedom, and the second wrist swinging rope group is used to enable the wrist structure to have the second swinging degree of freedom.

[0016] The beneficial effects brought by the rope-driven robot of the present invention are:

[0017] Through the above-mentioned arrangement, the rope-driven robot can realize the walking function of the rope-driven robot by using the chassis, so that the rope-driven robot can move to a set location. By setting a mechanical arm installed on the body, and making the mechanical arm have a shoulder structure, a large arm shell, an elbow joint, a small arm shell, a wrist structure and an end clamp that are arranged in sequence, the rope-driven robot can complete the execution action through the mechanical arm. Specifically, by connecting the rope drive component arranged inside the mechanical arm with the motor component of the motor assembly arranged on the body, the motor component can drive the rope drive component to move, so that the shoulder structure has a rotational degree of freedom, the elbow joint has a flexion degree of freedom, and the wrist structure has a rotational degree of freedom, a first swinging degree of freedom and a second swinging degree of freedom. In addition, by making the shoulder structure have both a pitching degree of freedom and a yaw degree of freedom, the degrees of freedom of the shoulder, elbow and wrist of the above-mentioned mechanical arm are configured as 3-1-3, which effectively reduces the inertia of the mechanical arm.

[0018] It can be seen that the rope-driven robot not only reduces the weight of the robotic arm by installing the motor assembly as an independent module on the body, thus simplifying the internal structure of the robotic arm and making it lighter as a whole, but also the distribution of degrees of freedom in the robotic arm makes the mass inertia of the far end of the robotic arm smaller, which improves the response speed while reducing the impact on surrounding personnel in the event of a fault or power outage, thereby improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0020] Figure 1 A schematic diagram of a partial structure of a rope-driven robot provided in an embodiment of the present invention;

[0021] Figure 2 A schematic structural diagram of a rope-driven robot provided by an embodiment of the present invention when the body is in an upright posture;

[0022] Figure 3 A schematic diagram of the structure of a rope-driven robot provided by an embodiment of the present invention when the body is in a bent posture;

[0023] Figure 4 for Figure 3 A magnified view of the local structure at point A in the middle;

[0024] Figure 5 One of the internal structure schematic diagrams of the mechanical arm of the rope-driven robot provided in an embodiment of the present invention;

[0025] Figure 6 A second schematic diagram of the internal structure of the mechanical arm of the rope-driven robot provided in an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the structure of a mechanical arm of a rope-driven robot provided in an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of the shoulder structure of a rope-driven robot provided in an embodiment of the present invention;

[0028] Fig. 9 A schematic structural diagram of a motor assembly of a rope-driven robot provided in an embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 100-chassis; 200-body; 300-mechanical arm; 400-motor assembly; 500-rope drive assembly; 600-Bowden cable tube;

[0031] 210-first parallelogram connecting rod frame; 211-base; 212-connecting seat; 213-first rod group; 220-first driving mechanism; 221-first motor; 222-first worm; 223-first worm wheel; 230-second parallelogram connecting rod frame; 231-upper support; 232-second rod group; 240-second driving mechanism; 241-second motor; 242-second worm; 243-second worm wheel; 250-rotation limiting structure; 251-first limiting column; 252-second limiting column; 253-blocking rod;

[0032] 310-shoulder structure; 311-shoulder driving mechanism; 312-shoulder transmission mechanism; 3121-driven bevel gear; 3122-planetary bevel gear; 3123-active bevel gear; 3124-driving bevel gear; 313-rotating seat; 314-adapter seat; 320-big arm shell; 330-elbow joint; 331-first roller; 332-second roller; 333-connecting frame; 3331-central connecting rod; 3332-first central axis; 3333-second central axis; 334-fixing block; 340-small arm shell; 350-wrist structure; 360-end clamp; 371-arm bracket; 373-first trachea plug;

[0033] 410-mounting frame; 411-motor mounting plate; 412-connecting plate; 420-motor assembly; 430-second bracket; 431-second air pipe plug;

[0034] 510-first elbow driving rope; 520-second elbow driving rope; 530-pressure wheel; 540-shoulder rotating wheel; 550-first wrist swinging rope group; 560-second wrist swinging rope group; 570-wrist rotating rope group; 580-wrist rotating pulley; 581-wrist rotating shaft; 590-forearm connecting plate; 591-wrist rolling rod. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] Figure 1 Schematic diagram of the local structure of the rope-driven robot provided in this embodiment. Figure 1As shown, this embodiment provides a rope-driven robot, including a chassis 100, a body 200, a mechanical arm 300 and a motor assembly 400. Specifically, the body 200 is installed on the chassis 100; the mechanical arm 300 is installed on the body 200, and the mechanical arm 300 includes a shoulder structure 310, a large arm shell 320, an elbow joint 330, a small arm shell 340, a wrist structure 350 and an end clamp 360 arranged in sequence. A rope drive assembly 500 is arranged inside the mechanical arm 300, and the rope drive assembly 500 is configured to enable the shoulder structure 310 to have a rotational degree of freedom, the elbow joint 330 to have a flexion degree of freedom, and the wrist structure 350 to have a rotational degree of freedom and a first swinging degree of freedom. and a second swing degree of freedom, the rotation axis of the shoulder structure 310 extends in the front-to-back direction, the rotation axis of the wrist structure 350 extends in the length direction of the robot arm 300, the swing axes of the first swing degree of freedom and the second swing degree of freedom are perpendicular to each other and are both perpendicular to the rotation axis of the wrist structure 350; the shoulder structure 310 also has a pitch degree of freedom and a yaw degree of freedom, the pitch axis of the shoulder structure 310 extends in the left-right direction, and the yaw axis of the shoulder structure 310 extends in the up-down direction; the motor assembly 400 includes a mounting frame 410 for connecting to the body 200 and a motor assembly 420 arranged on the mounting frame 410, and the motor assembly 420 is drivingly connected to the rope drive assembly 500.

[0037] It should be noted that, in this embodiment, Figure 1 In the coordinate system and the posture of the rope-driven robot shown, the rotation axis of the shoulder structure 310 is along the Y-axis, the pitch axis of the shoulder structure 310 is along the X-axis, and the yaw axis of the shoulder structure 310 is along the Z-axis; the rotation axis of the wrist structure 350 is along the Z-axis, the first swing axis of the wrist structure 350 is along the X-axis, and the second swing axis of the wrist structure 350 is along the Y-axis.

[0038] The rope-driven robot can realize the walking function of the rope-driven robot by using the chassis 100 through the above-mentioned arrangement, so that the rope-driven robot can move to a set location. By arranging a mechanical arm 300 installed on the body 200, and making the mechanical arm 300 have a shoulder structure 310, a large arm shell 320, an elbow joint 330, a small arm shell 340, a wrist structure 350 and an end clamp 360 arranged in sequence, the rope-driven robot can complete the execution action through the mechanical arm 300, specifically, by connecting the rope drive assembly 500 arranged inside the mechanical arm 300 with the motor assembly 420 of the motor assembly 400 arranged on the body 200, the motor assembly 420 can drive the rope drive assembly 500 to move, so that the shoulder structure 310 has a rotational degree of freedom, the elbow joint 330 has a flexion degree of freedom, and the wrist structure 350 has a rotational degree of freedom, a first swinging degree of freedom and a second swinging degree of freedom. In addition, by making the shoulder structure 310 have both pitch freedom and yaw freedom, the freedom of the shoulder, elbow, and wrist of the above-mentioned robot arm 300 is configured in 3-1-3, which effectively reduces the inertia of the robot arm 300.

[0039] It can be seen that the rope-driven robot not only reduces the weight of the robot arm 300 by installing the motor assembly 400 as an independent module on the body 200, thereby simplifying the internal structure of the robot arm 300 and making it lighter as a whole, but also the distribution of degrees of freedom in the robot arm 300 also makes the mass inertia of the far end of the robot arm 300 smaller, which improves the response speed while reducing the impact on surrounding personnel in the event of a fault or power outage, thereby improving safety.

[0040] Figure 2 A schematic structural diagram of a body 200 of a rope-driven robot provided in this embodiment when in an upright posture; Figure 3 The schematic diagram of the structure of the body 200 of the rope-driven robot provided in this embodiment when it is in a bent posture. Figure 2 and Figure 3As shown, the body 200 may include a first parallelogram linkage frame 210, a first driving mechanism 220, a second parallelogram linkage frame 230 and a second driving mechanism 240, wherein the first parallelogram linkage frame includes a relative base 211 and a connecting seat 212, and a first rod group 213 rotatably arranged between the base 211 and the connecting seat 212, the first driving mechanism 220 is installed on the base 211, and is used to drive the first rod group 213 to rotate; the second parallelogram linkage frame 230 includes the above-mentioned connecting seat 212 and an upper support 231 opposite to the connecting seat 212, and a second rod group 232 rotatably arranged between the connecting seat 212 and the upper support 231, the second driving mechanism 240 is installed on the connecting seat 212, and is used to drive the second rod group 232 to rotate; the base 211 is installed on the chassis 100, the shoulder structure 310 is installed on the upper support 231, and the mounting frame 410 is installed on the second parallelogram linkage frame 230.

[0041] The body 200 of the rope-driven robot is connected in series by making the first parallelogram linkage frame 210 and the second parallelogram linkage frame 230 share a connecting seat 212, and by providing a first driving mechanism 220 for rotating the first rod group 213 and a second driving mechanism 240 for rotating the second rod group 232, so that the body 200 has two degrees of freedom. When bending or standing is required, the first driving mechanism 220 drives the first rod group 213 to rotate, and the second driving mechanism 240 drives the second rod group 232 to rotate, so that the upper support 231 maintains the original posture and moves up and down.

[0042] It can be seen that the body 200 formed by the first parallelogram linkage frame 210 and the second parallelogram linkage frame 230 connected in series allows the upper support 231 to always maintain a horizontal posture during the vertical up and down movement, thereby not changing the overall angular posture of the robotic arm 300 connected to the upper support 231.

[0043] Please continue to refer to Figure 2 and Figure 3 In this embodiment, the first rod group 213 includes multiple first connecting rods, and the first driving mechanism 220 includes a first motor 221, a first worm 222 and a first worm wheel 223, wherein the body of the first motor 221 is installed on the base 211, the motor shaft of the first motor 221 is transmission-connected with the first worm 222, the first worm 222 is relatively fixed to one of the multiple first connecting rods and is coaxial with the rotating shaft of the first connecting rod, and the first worm wheel 223 is meshingly transmitted with the first worm 222.

[0044] Similarly, the second rod group 232 includes multiple second connecting rods, and the second driving mechanism 240 includes a second motor 241, a second worm 242 and a second worm wheel 243. The body of the second motor 241 is installed on the connecting seat 212, and the motor shaft of the second motor 241 is connected to the second worm 242 for transmission. The second worm wheel 243 is relatively fixed to one of the multiple second connecting rods and is coaxial with the rotating shaft of the second connecting rod. The second worm wheel 243 is meshed with the second worm 242 for transmission.

[0045] When the body 200 needs to be switched between the bent posture and the upright posture, the first motor 221 is started to drive the first worm 222 to rotate. Under the meshing action of the first worm 222 and the first worm wheel 223, the rotation of the first worm 222 is transmitted to the first worm wheel 223, so that the first worm wheel 223 rotates. By setting the first worm wheel 223 to be colinear with the rotation axis of one of the first connecting rods and relatively fixed with the first connecting rod, the first connecting rod will be driven to rotate synchronously during the rotation of the first worm wheel 223, thereby realizing the driving of the first rod group 213; at the same time, the second motor 241 is started to drive the second worm 242 to rotate. Under the meshing action of the second worm 242 and the second worm wheel 243, the rotation of the second worm 242 is transmitted to the second worm wheel 243, so that the second worm wheel 243 rotates. By setting the second worm gear 243 to be colinear with the rotation axis of one of the second connecting rods and relatively fixed to the second connecting rod, the second connecting rod is rotated synchronously during the rotation of the second worm gear 243, thereby driving the second rod group 232 and achieving the purpose of raising or lowering the upper support 231.

[0046] This arrangement of the first driving mechanism 220 and the second driving mechanism 240 not only has a high driving accuracy, but also can utilize the self-locking function between the first worm 222 and the first worm wheel 223 and between the second worm 242 and the second worm wheel 243 to achieve the purpose of power-off protection.

[0047] Figure 4 for Figure 3 The enlarged view of the local structure at A in the middle. Please continue to refer to Figure 3 , and combined with Figure 4 In this embodiment, a rotation limiting structure 250 is provided between the second rod group 232 and the connecting seat 212 , wherein the rotation limiting structure 250 is used to limit the rotation angle of the second rod group 232 .

[0048] The configuration of the rotation limiting structure 250 can limit the rotation range of the second rod group 232, thereby preventing the second parallelogram linkage frame 230 from interfering with other structures due to an excessively large rotation range.

[0049] Please continue to refer to Figure 4In this embodiment, the rotation limiting structure 250 may include a first limiting column 251, a second limiting column 252 and a blocking rod 253, wherein the first limiting column 251 and the second limiting column 252 are both fixedly disposed on the connecting seat 212, and the first limiting column 251 and the second limiting column 252 are arranged at intervals along the circumferential direction of the rotating shaft of one of the multiple second connecting rods; the blocking rod 253 is fixedly disposed on the second connecting rod corresponding to the rotating shaft, and the blocking rod 253 extends between the first limiting column 251 and the second limiting column 252.

[0050] This form of realizing the rotation limitation of the second connecting rod by utilizing the cooperation between the blocking rod 253 and the first limiting column 251 and the second limiting column 252 is not only reliable in limitation, but also simple in structure.

[0051] Figure 5 This is one of the internal structure schematic diagrams of the mechanical arm 300 of the rope-driven robot provided in this embodiment; Figure 6 This is a second schematic diagram of the internal structure of the mechanical arm 300 of the rope-driven robot provided in this embodiment. Figure 1 , and combined with Figure 5 and Figure 6 In this embodiment, the elbow joint 330 may include a first roller 331 and a second roller 332 that are tangentially arranged, and a connecting frame 333. Specifically, the first roller 331 and the second roller 332 are both rotatably installed on the connecting frame 333, and the first roller 331 is pivoted to the lower arm housing, and the second roller 332 is pivoted to the upper arm housing; the rope drive assembly 500 includes a first elbow drive rope 510 for driving the elbow joint 330 to perform a lifting action and a second elbow drive rope 520 for driving the elbow joint 330 to perform a lowering action, wherein the number of first elbow drive ropes 510 is greater than the number of second elbow drive ropes 520, and the motor assembly 420 includes elbow motors, and each first elbow drive rope 510 is respectively connected to different elbow motors.

[0052] In the elbow joint 330, the first roller 331 and the second roller 332 are tangent and both are rotatably mounted on the connecting frame 333, so that the first roller 331 and the second roller 332 form a pure rolling structure. By setting the number of the first elbow drive ropes 510 to be greater than the number of the second elbow drive ropes 520, and providing each first elbow drive rope 510 with a drive motor for retracting and releasing the first elbow drive ropes 510, when the elbow joint 330 performs a lifting action, a larger number of first elbow drive ropes 510 can be used to make the elbow joint 330 generate a larger torque to meet the large load requirement of the lifting action, and when the elbow joint 330 performs a lowering action, a smaller number of second elbow drive ropes 520 can be used to achieve the purpose of lowering through a smaller torque. On the other hand, the simultaneous action of the first elbow driving rope 510 and the second elbow driving rope 520 can also achieve antagonistic stiffness adjustment. Specifically, when the first elbow driving rope 510 and the second elbow driving rope 520 are both tightened, the stiffness of the elbow joint 330 increases; when the first elbow driving rope 510 and the second elbow driving rope 520 are both relaxed, the stiffness of the elbow joint 330 decreases. Thus, stiffness adaptation in different task scenarios can be achieved, such as: when a task with greater precision needs to be performed, the elbow joint 330 can have a greater stiffness to ensure the accuracy of the robot arm 300; when interacting with the user, the stiffness can be reduced to better perform safe human-computer interaction, and even if the robot arm 300 fails or loses control, it will not cause significant harm to the user.

[0053] It can be seen that the elbow joint 330, by setting different numbers of first elbow driving ropes 510 and second elbow driving ropes 520 and simultaneously tightening or loosening the first elbow driving ropes 510 and the second elbow driving ropes 520, can make the driving effects generated by the first elbow driving ropes 510 and the second elbow driving ropes 520 offset each other, thereby adapting to the usage requirements in different task scenarios through the antagonistic effect of the first elbow driving ropes 510 and the second elbow driving ropes 520.

[0054] Please continue to refer to Figure 5 and Figure 6 In this embodiment, the connecting frame 333 may include a central connecting rod 3331, a first central axis 3332 and a second central axis 3333, wherein the first central axis 3332 is rotatably mounted on one end of the central connecting rod 3331, and the first roller 331 is fixedly mounted on the first central axis 3332; the second central axis is rotatably mounted on the other end of the central connecting rod 3331, and the second roller 332 is fixedly mounted on the second central axis 3333.

[0055] In this embodiment, the number of the first elbow driving ropes 510 is two, and the number of the second elbow driving rope 520 is one.

[0056] It should be noted that the second elbow driving rope 520 can be wound around another motor, or can be wound around the same motor together with one of the first elbow driving ropes 510 .

[0057] Please continue to refer to Figure 5 and Figure 6 In this embodiment, the side of the first roller 331 facing away from the second roller 332 is the front of the elbow joint 330, and the side of the second roller 332 facing away from the first roller 331 is the back of the elbow joint 330. One end of the first elbow driving rope 510 and the second elbow driving rope 520 are both fixedly connected to the first roller 331 at the front; the rope driving assembly 500 also includes a pressure wheel 530, wherein the pressure wheel 530 is rotatably pressed at the back, and the first elbow driving rope 510 and the second elbow driving rope 520 are both wound around the first roller 331 and the second roller 332 in a "∽" shape, and the winding directions of the first elbow driving rope 510 and the second elbow driving rope 520 are centrally symmetrical about the tangent point of the pressure wheel 530 and the elbow joint 330.

[0058] This rope winding method of the first elbow driving rope 510 and the second elbow driving rope 520 not only allows the first roller 331 and the second roller 332 to always maintain pure rolling contact, thereby improving the control accuracy of the elbow joint 330, but also the rope winding method is simple.

[0059] Please continue to refer to Figure 5 In this embodiment, the first elbow driving rope 510 and the second elbow driving rope 520 are fixed to the front of the elbow joint 330 through the fixing block 334.

[0060] Please continue to refer to Figure 1 In this embodiment, the robot arm 300 is provided with a first bracket, the first bracket is provided with a plurality of first air pipe plugs 373, the mounting frame 410 is connected to a second bracket 430, the second bracket 430 is provided with a plurality of second air pipe plugs 431; the rope-driven robot may also include a Bowden wire tube 600, wherein one end of the Bowden wire tube 600 is plugged and fixed to the first air pipe plug 373, and the other end of the Bowden wire tube 600 is plugged and fixed to the second air pipe plug 431, and the driving rope of the rope driving assembly 500 passes through the first air pipe plug 373, the Bowden wire tube 600 and the second air pipe plug 431 in sequence, and is connected to the corresponding motor in the motor assembly 420.

[0061] The setting of the above-mentioned Bowden cable tube 600 realizes the multi-joint crossing of the driving rope between the motor assembly 420 of the robot arm 300 and the body 200, and has a simple structure. Moreover, this method of connecting the Bowden cable tube 600 using the first air pipe plug 373 and the second air pipe plug 431 can also realize the rapid connection and disassembly of the Bowden cable tube 600 at the first bracket and the second bracket 430, which is highly efficient.

[0062] Please continue to refer to Figure 1 Specifically, in this embodiment, the first bracket includes an arm bracket 371 disposed inside the upper arm housing.

[0063] Figure 7 A schematic structural diagram of a mechanical arm 300 of a rope-driven robot provided in this embodiment; Figure 8 FIG. 3 is a schematic diagram of a shoulder structure 310 of a rope-driven robot provided in this embodiment. Figure 7 and Figure 8 As shown, the shoulder structure 310 may include a shoulder driving mechanism 311, a shoulder transmission mechanism 312 and a rotating seat 313. Specifically, the shoulder transmission mechanism 312 includes two driven bevel gears 3121 that are arranged to rotate around a vertical axis, and a planetary bevel gear 3122 that is simultaneously meshed with the two driven bevel gears 3121. The two driven bevel gears 3121 are mirror-symmetrical in a horizontal plane, and the rotating seat 313 is fixedly arranged on the planetary bevel gears 3122. The shoulder driving mechanism 311 is arranged in two groups, and the two groups of shoulder driving mechanisms 311 correspond to the two groups of shoulder transmission mechanisms 312 respectively. The two groups of shoulder driving mechanisms 311 are configured to: drive the two driven bevel gears 3121 to rotate in the same direction, so as to drive the rotating seat 313 to pitch through the planetary bevel gears 3122, and drive the two driven bevel gears 3121 to rotate in the opposite direction, so as to drive the rotating seat 313 to deflect through the planetary bevel gears 3122.

[0064] This form of using a differential structure to achieve pitch and yaw motion has a smooth transmission and high transmission accuracy.

[0065] Please continue to refer to Figure 8 In this embodiment, the shoulder transmission mechanism 312 also includes a driving bevel gear 3124 directly driven to rotate by the shoulder driving mechanism 311 and an active bevel gear 3123 meshing with the driving bevel gear 3124 for transmission, wherein the active bevel gear 3123 is coaxially fixed with the driven bevel gear 3121, so that when the driving bevel gear 3124 drives the active bevel gear 3123 to rotate, the driven bevel gear 3121 rotates synchronously, thereby realizing the driving of the planetary bevel gear 3122.

[0066] Please continue to refer to Figure 8 In this embodiment, the shoulder structure 310 can also include an adapter seat 314, specifically, the adapter seat 314 is rotatably connected to the rotating seat 313; the rope drive assembly 500 also includes a shoulder rotating wheel 540 and a shoulder driving rope, and the motor assembly 420 also includes a shoulder rotating motor, wherein the shoulder rotating wheel 540 is coaxial with the rotating axis of the adapter seat 314 and is relatively fixed to the adapter seat 314, the shoulder driving rope is tightly wound around the shoulder rotating wheel 540, and both ends of the shoulder driving rope are connected to the motor shaft of the shoulder rotating motor; the upper arm housing 320 is connected to the adapter seat 314.

[0067] When the shoulder structure 310 is required to perform a rotational motion, Figure 1 The coordinate axis shown, that is, when the shoulder structure 310 needs to rotate around the Y axis, the shoulder rotary motor is activated, and the shoulder driving rope is used to drive the shoulder rotary wheel 540 to rotate, thereby realizing the rotation drive of the adapter 314, and then realizing the movement of the arm. The rotation of the shoulder structure 310 in two directions can be realized by the forward and reverse rotation of the shoulder rotary motor respectively.

[0068] Please continue to refer to Figure 8 In this embodiment, the rotating seat 313 is also provided with a first air pipe plug 373.

[0069] Fig. 9 The structure diagram of the motor assembly 400 of the rope-driven robot provided in this embodiment is shown in FIG. Fig. 9 As shown, in this embodiment, the mounting frame 410 may include two motor mounting plates 411 arranged opposite to each other and two connecting plates 412 connected between the two motor mounting plates 411, wherein the two motor mounting plates 411 and the two connecting plates 412 enclose an installation cavity for accommodating the body of each motor in the motor assembly 420, and the motor shaft of each motor extends in a direction away from the installation cavity to be connected to the corresponding drive rope.

[0070] It should be noted that, in the present embodiment, the present embodiment does not limit to which motor the drive ropes for controlling the shoulder structure 310 , the elbow joint 330 , and the wrist structure 350 are respectively connected.

[0071] In this embodiment, the drive rope for controlling the movement of the left arm is connected to the motor component on the right side of the motor assembly 400, and the drive rope for controlling the movement of the right arm is connected to the motor component on the left side of the motor assembly 400. This arrangement can reduce the bending of the drive rope, thereby ensuring the smoothness of pulling the drive rope.

[0072] Please continue to refer to Figure 5 and Figure 6In this embodiment, the rope drive assembly 500 may further include a first wrist swing rope group 550, a second wrist swing rope group 560, a wrist rotation rope group 570, a wrist rotation pulley 580, a wrist rotation shaft 581 and a forearm connecting plate 590, wherein the wrist rotation pulley 580 can be rotatably installed on the forearm housing 340 around the rotation axis of the wrist structure 350, and the wrist rotation shaft 581 is fixedly arranged on the wrist rotation pulley 580; the wrist rotation rope group 570 includes a first wrist rotation driving rope and a second wrist rotation driving rope, and the first wrist rotation driving rope and the second wrist rotation driving rope are wound around the wrist rotation pulley 580 in opposite directions. 80, used to drive the wrist rotating pulley 580 to rotate in the opposite direction; the forearm connecting plate 590 is fixedly connected to the forearm housing 340, and the forearm connecting plate 590 is provided with an avoidance hole for the wrist rotating shaft 581 to pass through, and the wrist structure 350 is connected to the wrist rotating shaft 581; the forearm connecting plate 590 is also provided with a plurality of rope holes, and the first wrist swinging rope group 550 and the second wrist swinging rope group 560 are both connected to the wrist structure 350 through the rope holes, the first wrist swinging rope group 550 is used to enable the wrist structure 350 to have a first swinging degree of freedom, and the second wrist swinging rope group 560 is used to enable the wrist structure 350 to have a second swinging degree of freedom.

[0073] When the wrist structure 350 needs to rotate, the first wrist rotation drive rope and the second wrist rotation drive rope can be used to drive the wrist rotating pulley 580 so that the wrist rotating pulley 580 rotates relative to the forearm housing 340; during the rotation of the wrist rotating pulley 580, the wrist rotating shaft 581 fixedly connected to the wrist rotating pulley 580 rotates, thereby realizing the rotational movement of the wrist structure 350 connected to the wrist rotating shaft 581. When the wrist structure 350 is required to generate a first degree of swinging freedom, the first wrist swinging rope group 550 is actuated to drive the wrist structure 350 to swing around the first wrist swinging axis, wherein the first wrist swinging rope group 550 includes two driving ropes, which are respectively used to realize the forward and reverse swinging of the wrist structure 350 around the first wrist swinging axis; when the wrist structure 350 is required to generate a second degree of swinging freedom, the second wrist swinging rope group 560 is actuated to drive the wrist structure 350 to swing around the second wrist swinging axis, wherein the second wrist swinging rope group 560 also includes two driving ropes, which are respectively used to realize the forward and reverse swinging of the wrist structure 350 around the second wrist swinging axis. In this embodiment, the two driving ropes of the first wrist swinging rope group 550 and the two driving ropes of the second wrist swinging rope group 560 are alternately arranged along the rotation direction of the wrist structure 350.

[0074] The above arrangement of the rope drive assembly 500 enables the wrist structure 350 to have a rotational degree of freedom, a first swinging degree of freedom and a second swinging degree of freedom, and the drive structure is simple and the drive is reliable.

[0075] Please continue to refer to Figure 5 and Figure 6 In this embodiment, a wrist rolling rod 591 is provided between the forearm connecting plate 590 and the wrist structure 350 , which is used to play a supporting role between the forearm connecting plate 590 and the wrist structure 350 without affecting the rotation and swinging movements of the wrist structure 350 .

[0076] It should be noted that the specific structure of the end clamp 360 can refer to the prior art, and since it is not the focus of improvement of the present application, it will not be described in detail. Figure 1 One of the Bowden cable tubes 600 is shown schematically in FIG.

[0077] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

[0078] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0079] In the above embodiments, the descriptions of directions such as “upper”, “lower”, “left”, “right”, “front”, “back”, and “side” are all based on the drawings.

[0080] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rope-driven robot, characterized in that: The invention comprises a chassis (100), a body (200), a mechanical arm (300) and a motor assembly (400), wherein the body (200) is mounted on the chassis (100); the mechanical arm (300) is mounted on the body (200); the mechanical arm (300) comprises a shoulder structure (310), a large arm housing (320), an elbow joint (330), a small arm housing (340), a wrist structure (350) and an end clamp (360) arranged in sequence; a rope drive assembly (500) is arranged inside the mechanical arm (300); the rope drive assembly (500) is configured to enable the shoulder structure (310) to have a rotational degree of freedom, enable the elbow joint (330) to have a flexion degree of freedom, and enable the wrist structure (350) to have a rotational degree of freedom, a first swinging degree of freedom and a second swinging degree of freedom. The shoulder structure (310) has a rotation axis extending in the front-to-back direction, and the rotation axis of the wrist structure (350) extends in the length direction of the robot arm (300). The swing axes of the first swing degree of freedom and the second swing degree of freedom are perpendicular to each other and are both perpendicular to the rotation axis of the wrist structure (350). The shoulder structure (310) also has a pitch degree of freedom and a yaw degree of freedom. The pitch axis of the shoulder structure (310) extends in the left-right direction, and the yaw axis of the shoulder structure (310) extends in the up-down direction. The motor assembly (400) includes a mounting frame (410) for connecting to the body (200) and a motor assembly (420) arranged on the mounting frame (410), and the motor assembly (420) is drivingly connected to the rope drive assembly (500).

2. The rope-driven robot according to claim 1, characterized in that: The body (200) comprises a first parallelogram linkage frame (210), a first driving mechanism (220), a second parallelogram linkage frame (230) and a second driving mechanism (240), wherein the first parallelogram linkage frame comprises a base (211) and a connecting seat (212) relative to each other, and a first rod group (213) rotatably arranged between the base (211) and the connecting seat (212), the first driving mechanism (220) is installed on the base (211) and is used to drive the first rod group (213) to rotate; the second parallelogram linkage frame (230) comprises a first parallelogram linkage frame (211) and a second driving mechanism (240), wherein the first parallelogram linkage frame comprises a base (211) and a connecting seat (212) relative to each other, and a first rod group (213) rotatably arranged between the base (211) and the connecting seat (212), the first driving mechanism (220) is installed on the base (211) and is used to drive the first rod group (213) to rotate; 30) comprises the connecting seat (212) and an upper support (231) opposite to the connecting seat (212), and a second rod group (232) rotatably arranged between the connecting seat (212) and the upper support (231), the second driving mechanism (240) is installed on the connecting seat (212) and is used to drive the second rod group (232) to rotate; the base (211) is installed on the chassis (100), the shoulder structure (310) is installed on the upper support (231), and the mounting frame (410) is installed on the second parallelogram connecting rod frame (230).

3. The rope-driven robot according to claim 2, characterized in that: The first rod group (213) includes a plurality of first connecting rods, the first driving mechanism (220) includes a first motor (221), a first worm (222) and a first worm wheel (223), the body of the first motor (221) is installed on the base (211), the motor shaft of the first motor (221) is connected to the first worm (222) in a transmission manner, the first worm wheel (223) is relatively fixed to one of the plurality of first connecting rods and is coaxial with the rotation axis of the first connecting rod, and the first worm wheel (223) is meshed with the first worm (222) for transmission; The second rod group (232) includes a plurality of second connecting rods, and the second driving mechanism (240) includes a second motor (241), a second worm (242) and a second worm wheel (243). The body of the second motor (241) is installed on the connecting seat (212), the motor shaft of the second motor (241) is connected to the second worm (242) in a transmission manner, the second worm wheel (243) is relatively fixed to one of the plurality of second connecting rods and is coaxial with the rotating shaft of the second connecting rod, and the second worm wheel (243) is meshed with the second worm (242) for transmission.

4. The rope-driven robot according to claim 2, characterized in that: A rotation limiting structure (250) is provided between the second rod group (232) and the connecting seat (212), and the rotation limiting structure (250) is used to limit the rotation angle of the second rod group (232).

5. The rope-driven robot according to claim 1, characterized in that: The elbow joint (330) comprises a first roller (331) and a second roller (332) which are tangentially arranged, and a connecting frame (333), wherein the first roller (331) and the second roller (332) are both rotatably mounted on the connecting frame (333), and the first roller (331) is pivotally connected to the lower arm housing, and the second roller (332) is pivotally connected to the upper arm housing; the rope drive assembly (500) comprises a first elbow drive rope (510) for driving the elbow joint (330) to perform a lifting action and a second elbow drive rope (520) for driving the elbow joint (330) to perform a lowering action, wherein the number of the first elbow drive ropes (510) is greater than the number of the second elbow drive ropes (520), and the motor assembly (420) comprises an elbow motor, and each of the first elbow drive ropes (510) is respectively connected to a different elbow motor.

6. The rope-driven robot according to claim 5, characterized in that: The side of the first roller (331) facing away from the second roller (332) is the front of the elbow joint (330), and the side of the second roller (332) facing away from the first roller (331) is the back of the elbow joint (330), and one end of both the first elbow driving rope (510) and the second elbow driving rope (520) are fixedly connected to the first roller (331) at the front; the rope driving assembly (500) also includes a pressure wheel (530), and the pressure wheel (530) is rotatably pressed against the back, wherein the first elbow driving rope (510) and the second elbow driving rope (520) are both wound around the first roller (331) and the second roller (332) in a "∽" shape, and the winding directions of the first elbow driving rope (510) and the second elbow driving rope (520) are centrally symmetrical about the tangent point between the pressure wheel (530) and the elbow joint (330).

7. The rope-driven robot according to claim 1, characterized in that: The mechanical arm (300) is provided with a first bracket, the first bracket is provided with a plurality of first air pipe plugs (373), the mounting frame (410) is connected to a second bracket (430), the second bracket (430) is provided with a plurality of second air pipe plugs (431); the rope-driven robot also includes a Bowden wire tube (600), one end of the Bowden wire tube (600) is plugged and fixed to the first air pipe plug (373), and the other end of the Bowden wire tube (600) is plugged and fixed to the second air pipe plug (431), and the driving rope of the rope driving assembly (500) passes through the first air pipe plug (373), the Bowden wire tube (600) and the second air pipe plug (431) in sequence, and is connected to the corresponding motor in the motor assembly (420).

8. The rope-driven robot according to claim 1, characterized in that: The shoulder structure (310) comprises a shoulder driving mechanism (311), a shoulder transmission mechanism (312) and a rotating seat (313), wherein the shoulder transmission mechanism (312) comprises two driven bevel gears (3121) rotatably arranged around a vertical axis, and a planetary bevel gear (3122) simultaneously meshing with the two driven bevel gears (3121), the two driven bevel gears (3121) are mirror-symmetrical in a horizontal plane, and the rotating seat (313) is fixedly arranged on the planetary bevel gears (3122); the shoulder driving mechanism (311) comprises a shoulder transmission mechanism (312) and a rotating seat (313), wherein the shoulder transmission mechanism (312) comprises two driven bevel gears (3121) rotatably arranged around a vertical axis, and a planetary bevel gear (3122) simultaneously meshing with the two driven bevel gears (3121). The shoulder drive mechanism (311) is provided in two groups, and the two groups of shoulder drive mechanisms (311) correspond to the two groups of shoulder transmission mechanisms (312) respectively. The two groups of shoulder drive mechanisms (311) are configured to: drive the two driven bevel gears (3121) to rotate in the same direction, so as to drive the rotating seat (313) to pitch motion through the planetary bevel gears (3122), and to drive the two driven bevel gears (3121) to rotate in the opposite direction, so as to drive the rotating seat (313) to deflect motion through the planetary bevel gears (3122).

9. The rope-driven robot according to claim 8, characterized in that: The shoulder structure (310) also includes an adapter seat (314), and the adapter seat (314) is rotatably connected to the rotating seat (313); the rope drive assembly (500) also includes a shoulder rotating wheel (540) and a shoulder driving rope, and the motor assembly (420) also includes a shoulder rotating motor, the shoulder rotating wheel (540) is coaxial with the rotating shaft of the adapter seat (314) and is relatively fixed to the adapter seat (314), the shoulder driving rope is tightly wound around the shoulder rotating wheel (540), and both ends of the shoulder driving rope are connected to the motor shaft of the shoulder rotating motor; the upper arm housing (320) is connected to the adapter seat (314).

10. The rope-driven robot according to claim 1, characterized in that: The rope drive assembly (500) also includes a first wrist swing rope group (550), a second wrist swing rope group (560), a wrist rotation rope group (570), a wrist rotating pulley (580), a wrist rotating shaft (581) and a forearm connecting plate (590), wherein the wrist rotating pulley (580) can be rotatably installed on the forearm housing (340) around the rotation axis of the wrist structure (350), and the wrist rotating shaft (581) is fixedly arranged on the wrist rotating pulley (580); the wrist rotating rope group (570) includes a first wrist rotating driving rope and a second wrist rotating driving rope, and the first wrist rotating driving rope and the second wrist rotating driving rope are wound around the wrist rotating pulley (580) in opposite directions for driving the wrist rotating pulley (580) to rotate around the rotation axis of the wrist structure (350). The wheels (580) rotate in opposite directions; the forearm connecting plate (590) is fixedly connected to the forearm housing (340); the forearm connecting plate (590) is provided with an avoidance hole for the wrist rotating shaft (581) to pass through, and the wrist structure (350) is connected to the wrist rotating shaft (581); the forearm connecting plate (590) is also provided with a plurality of rope holes, and the first wrist swinging rope group (550) and the second wrist swinging rope group (560) are both connected to the wrist structure (350) through the rope holes, the first wrist swinging rope group (550) is used to enable the wrist structure (350) to have the first swinging degree of freedom, and the second wrist swinging rope group (560) is used to enable the wrist structure (350) to have the second swinging degree of freedom.

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