Rope pulley assembly, rope drive mechanism and mechanical arm

Abstract

The present disclosure provides a rope pulley assembly, a rope driving mechanism and a mechanical arm, which relate to the field of rope driving technology. The rope pulley assembly includes: a rope pulley and a pre-tensioning device; the rope pulley includes a rope winding portion, an axial hole portion and an adjustment groove; the adjustment groove is located radially inward of the rope winding portion, and the adjustment groove is connected to the rope winding portion; the pre-tensioning device includes a rope fixing part and an adjusting part; the rope fixing part is movably located in the adjustment groove, and the rope fixing part is used to connect the ball head of the driving rope; the adjusting part is connected to the rope fixing part, and the adjusting part can adjust the position of the rope fixing part in the adjustment groove. In the rope pulley assembly disclosed in the present disclosure, the pre-tensioning device is integrated in the rope pulley to realize the pre-tensioning adjustment of the end of the driving rope, and has the advantages of simple structure, convenient installation and use, etc.

Description

Technical Field

[0001] The present disclosure relates to the technical field of rope drive, and in particular to a rope pulley assembly, a rope drive mechanism and a mechanical arm. Background Art

[0002] With the development of robot technology and the expansion of its applicable fields, robots have gradually become irreplaceable tools in the fields of production, services, etc. Among them, articulated robots using tendon drive (or wire drive) are widely used due to their advantages such as flexible movements and compact structure.

[0003] In the rope drive mechanism of the related art, in order to solve the problem that the rope deforms during the tensioning and pulling process, thereby affecting the driving accuracy, it is usually necessary to separately configure a pre-tightening device to apply a pre-tightening force to the rope.

[0004] However, configuring the pre-tightening device will make the structure of the rope drive mechanism more complicated, which is not conducive to the installation and use of the rope drive mechanism. Summary of the invention

[0005] The present invention provides a rope pulley assembly, a rope driving mechanism and a mechanical arm, which can solve the problem that the rope driving mechanism in the related art is separately provided with a pre-tightening device, has a complex structure and is not conducive to installation and use.

[0006] The technical solution is as follows:

[0007] In one aspect, a rope pulley assembly is provided, the rope pulley assembly comprising: a rope pulley and a pre-tensioning device;

[0008] The rope wheel comprises a rope winding portion, a shaft hole portion and an adjustment groove; the adjustment groove is located radially inside the rope winding portion, and the adjustment groove is communicated with the rope winding portion;

[0009] The pretensioning device includes a rope fixing part and an adjusting part; the rope fixing part is movably located in the adjusting groove, and the rope fixing part is used to connect the ball head of the driving rope; the adjusting part is connected to the rope fixing part, and the adjusting part can adjust the position of the rope fixing part in the adjusting groove.

[0010] On the other hand, a rope drive mechanism is provided, the rope drive mechanism comprising: the rope wheel assembly described in the present disclosure, and a drive rope;

[0011] The drive rope includes at least one ball head connected to the rope fixing member.

[0012] On the other hand, a mechanical arm is provided, which includes: the rope pulley assembly described in the present disclosure, or the rope drive mechanism described in the present disclosure.

[0013] The beneficial effects of the technical solution provided by the present disclosure include at least:

[0014] The rope pulley assembly disclosed in the present invention comprises a rope pulley and a pre-tensioning device. An adjusting groove is provided on the radial inner side of the rope winding portion of the rope pulley. A rope fixing piece of the pre-tensioning device is movably arranged in the adjusting groove. The rope fixing piece is used to connect the ball head of the driving rope. The rope fixing piece can apply a pre-tensioning force to the driving rope by constraining the position of the ball head. The position of the rope fixing piece in the adjusting groove can be adjusted by an adjusting piece. The position change of the rope fixing piece changes the length of the driving rope extending into the adjusting groove, thereby realizing the adjustment of the pre-tensioning force of the driving rope. The pre-tensioning device is integrated in the rope pulley to realize the pre-tensioning adjustment of the end of the driving rope. The pre-tensioning device has the advantages of simple structure, convenient installation and use, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 is a schematic structural diagram of a rope pulley assembly provided in an embodiment of the present disclosure;

[0017] Figure 2 is a structural exploded view of a rope pulley assembly provided by an embodiment of the present disclosure;

[0018] Figure 3 is a structural cross-sectional view of a rope pulley assembly provided by an embodiment of the present disclosure;

[0019] Figure 4 is a structural cross-sectional view of a rope fixing member provided by an embodiment of the present disclosure;

[0020] Figure 5 is a structural schematic diagram of a rope pulley assembly provided by another embodiment of the present disclosure;

[0021] Figure 6 is a structural schematic diagram of a rope pulley assembly provided by another embodiment of the present disclosure;

[0022] Figure 7 It is a schematic diagram of the structure of the robotic arm provided in an embodiment of the present disclosure.

[0023] The reference numerals in the figures represent respectively:

[0024] 10. Rope pulley assembly; 20. Driving rope;

[0025] 1. Rope pulley;

[0026] 11. Rope winding part; 12. Shaft hole part;

[0027] 13. Adjustment slot; 131. Adjustment hole; 132. Countersunk hole;

[0028] 14. Second rope passage; 141. Rope guide slope; 15. Rim body; 16. Hub body; 17. Spoke body; 18. Reinforcement body; 19. Weight reduction hole;

[0029] 2. Preload device;

[0030] 21. Rope fixing member; 211. Main body; 2111. Threaded hole; 2212. First rope passage; 2213. Avoidance groove;

[0031] 22. adjusting member; 221. screw portion; 222. bolt head;

[0032] 3. Ball head;

[0033] 100. Mechanical shoulder joint; 1001. Shoulder fixing part; 1002. Shoulder movable part; 1003. Shoulder driver; 200. Mechanical elbow joint; 300. Mechanical wrist joint. DETAILED DESCRIPTION

[0034] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0035] It should be understood that the various components or structures in the drawings are not drawn strictly to scale, and the size of the various components or structures may be exaggerated or reduced for clarity, but these should not be used to limit the scope of the present disclosure. In order to keep the following description of the embodiments of the present disclosure clear and concise, detailed descriptions of known functions and known components may be omitted.

[0036] In the disclosed description, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0037] Unless otherwise defined, all technical terms used in the embodiments of the present disclosure have the same meanings as commonly understood by those of ordinary skill in the art.

[0038] With the development of robot technology and the expansion of its applicable fields, robots have gradually become irreplaceable tools in the fields of production, services, etc. Among them, articulated robots using tendon drive (or wire drive) are widely used due to their advantages such as flexible movements and compact structure.

[0039] Due to the inevitable creep of the rope and other factors, the control accuracy of the mechanical joint is objectively limited. Therefore, in the rope drive mechanism of the related art, a pre-tightening device (or tensioning device) is usually separately configured for the rope drive structure to apply pre-tightening force to the rope.

[0040] However, the configuration of the pre-tightening device will make the structure of the rope drive mechanism more complicated, which is not conducive to the installation and use of the rope drive mechanism. In addition, the current pre-tightening device is large in size, poor in compactness, occupies a large space, and has the problem of being difficult to adjust.

[0041] Therefore, the present disclosure provides a rope pulley assembly in which a pretensioning device is integrated in the rope pulley to achieve end pretensioning adjustment of the drive rope, and has the advantages of simple structure, easy installation and use, etc.

[0042] It should be understood that the rope pulley assembly provided in the present application can be applied to rope-driven manipulators and robot scenarios in the fields of cloud technology, artificial intelligence, smart transportation, etc., to realize human-computer interaction through manipulators and serve people's daily lives.

[0043] Artificial intelligence is the theory, method, technology and application system that uses a machine controlled by a mathematical computer or a digital computer to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making.

[0044] Artificial intelligence is a comprehensive discipline that covers a wide range of fields, including both hardware-level and software-level technologies. The basic technologies of artificial intelligence generally include sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, and mechatronics. Artificial intelligence software technology mainly includes computer vision technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0045] It can be understood that the intelligent traffic system (ITS) used in the field of smart transportation, also known as the intelligent transportation system (ITS), effectively integrates advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control and vehicle manufacturing, strengthens the connection between vehicles, roads and users, and thus forms a comprehensive transportation system that ensures safety, improves efficiency, improves the environment and saves energy.

[0046] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0047] Figure 1 is a structural schematic diagram of a rope pulley assembly 10 provided in an embodiment of the present disclosure; Figure 2 1 is a structural exploded view of the rope pulley assembly 10 provided in an embodiment of the present disclosure.

[0048] On the one hand, combined with Figure 1 , 2 As shown, this embodiment provides a rope pulley assembly 10, which includes: a rope pulley 1 and a pre-tightening device 2.

[0049] The rope wheel 1 includes a rope winding portion 11 , a shaft hole portion 12 and an adjusting groove 13 ; the adjusting groove 13 is located radially inside the rope winding portion 11 , and the adjusting groove 13 is communicated with the rope winding portion 11 .

[0050] The pretensioning device 2 includes a rope fixing member 21 and an adjusting member 22; the rope fixing member 21 is movably located in the adjusting groove 13, and the rope fixing member 21 is used to connect the ball head 3 of the driving rope 20; the adjusting member 22 is connected to the rope fixing member 21, and the adjusting member 22 can adjust the position of the rope fixing member 21 in the adjusting groove 13.

[0051] The rope pulley assembly 10 of this embodiment includes a rope pulley 1 and a pretensioning device 2. An adjustment groove 13 is provided radially inwardly of the rope winding portion 11 of the rope pulley 1. A rope fixing part 21 of the pretensioning device 2 is movably arranged in the adjustment groove 13. The rope fixing part 21 is used to connect the ball head 3 of the driving rope 20. The rope fixing part 21 can apply a pretensioning force to the driving rope 20 by constraining the position of the ball head 3.

[0052] In addition, the position of the rope fixing part 21 in the adjusting groove 13 can be adjusted by the adjusting part 22. The position change of the rope fixing part 21 can change the length of the driving rope 20 extending into the adjusting groove 13, thereby changing the actual working length of the driving rope 20, realizing the adjustment of the preload force of the driving rope 20, and compensating for the deformation and friction generated by the driving rope 20 during the working process, thereby improving the life and reliability of the rope driving mechanism.

[0053] Thus, the pre-tightening device 2 is integrated in the rope wheel 1 to achieve the pre-tightening adjustment of the end of the driving rope 20, which has the advantages of simple structure, convenient installation and use, etc.

[0054] The actual working length of the driving rope 20 may be the total length of the portion of the driving rope 20 in contact with the rope winding portion 11. During the rotation of the rope wheel 1, this portion of the driving rope 20 may be completely wrapped around or completely detached from the rope winding portion 11 to transmit power.

[0055] In some possible implementations, the drive rope 20 includes, but is not limited to, a phosphate-coated steel wire rope, a galvanized steel wire rope, a stainless steel wire rope, a smooth steel wire rope, and the like.

[0056] Combination Figure 2 As shown, in some embodiments, an adjustment hole 131 is provided in the adjustment slot 13; both ends of the adjustment member 22 are respectively connected to the adjustment hole 131 and the rope fixing member 21, and at least one of the two ends of the adjustment member 22 is threadedly connected.

[0057] In the rope pulley assembly 10 of this embodiment, an adjustment hole 131 is provided in the adjustment groove 13, and the two ends of the adjustment member 22 are respectively connected to the adjustment hole 131 and the rope fixing member 21, and at least one of the two ends of the adjustment member 22 is threadedly connected. When the adjustment member 22 rotates, the component threadedly connected to the adjustment member 22 generates an axial force under the action of the thread, and because the adjustment groove 13 is relatively fixed, the rope fixing member 21 moves axially relative to the adjustment groove 13. The position of the rope fixing member 21 changes, and the rope fixing member 21 pulls the ball head 3 to move, thereby realizing the adjustment of the preload force of the drive rope 20.

[0058] Exemplarily, the adjustment hole 131 is located on the side wall of the groove where the moving direction of the rope fixing member 21 in the adjustment groove 13 is located. Figure 1 As shown in FIG. 2 , the adjusting groove 13 is a rectangular groove, and the rope fixing member 21 moves in the adjusting groove 13 along its length direction, so the adjusting hole 131 is located on the wide side wall of the adjusting groove 13 .

[0059] In some possible implementations, one end of the adjusting member 22 is threadedly connected to the rope fixing member 21 , and the other end is rotatably connected to the adjusting hole 131 , and the adjusting member 22 and the rope fixing member 21 form a worm gear transmission structure.

[0060] When the adjusting member 22 rotates, the axial positions of the adjusting member 22 and the adjusting hole 131 remain unchanged. At the same time, the adjusting hole 131 provides axial support for the adjusting member 22. The rope fixing member 21 is restricted by the adjusting groove 13 and cannot rotate as a whole with the adjusting member 131. It can only generate axial force under the action of the thread, thereby causing axial movement.

[0061] In some other possible implementations, one end of the adjusting member 22 is rotatably connected to the rope fixing member 21 , and the other end is threadedly connected to the adjusting hole 131 , and the adjusting member 22 and the adjusting hole 131 form a worm gear transmission structure.

[0062] When the adjusting member 22 rotates, the axial relative position of the adjusting member 22 and the rope fixing member 21 remains unchanged, and the adjusting member 22 can provide an axial force to the rope fixing member 21. Since the adjusting hole 131 is fixed in position, the adjusting member 22 drives the rope fixing member 21 to move axially under the action of the thread.

[0063] In some other possible implementations, one end of the adjusting member 22 is threadedly connected to the rope fixing member 21, and the other end is threadedly connected to the adjusting hole 131, and the thread directions of the two ends of the adjusting member 22 are opposite. Therefore, when the adjusting member 22 rotates in a certain direction, the adjusting hole 131 and the rope fixing member 21 exert forces on the adjusting member 22 in opposite directions. For example, the adjusting hole 131 and the rope fixing member 21 exert axial tension on the adjusting member 22 at the same time, or exert axial thrust on the adjusting member 22 at the same time.

[0064] Combination Figure 3 As shown, in some embodiments, the adjustment hole 131 penetrates axially to the outer circumference of the rope wheel 1 , and a countersunk hole 132 is provided at the end of the adjustment hole 131 .

[0065] The adjusting member 22 includes a screw portion 221 and a bolt head 222 . The bolt head 222 is located in the countersunk hole 132 . The screw portion 221 passes through the adjusting hole 131 and is connected to the rope fixing member 21 .

[0066] In the rope pulley assembly 10 of this embodiment, the adjustment hole 131 passes through the outer circumference of the rope pulley 1, and is provided with a countersunk hole 132, so that the adjustment member 22 can be installed from the outer circumference of the rope pulley 1, and the bolt head 222 and the countersunk hole 132 form an axial limit, providing axial support for the adjustment member 22, thereby reducing the difficulty of installation and pre-tightening adjustment of the adjustment member 22.

[0067] When the adjusting member 22 needs to be rotated for pre-tightening adjustment, the bolt head 222 can be screwed from the countersunk hole 132 on the outer peripheral surface of the rope pulley 1 to realize the rotation of the adjusting member 22. This is convenient and quick, and can realize online adjustment, thereby improving the transmission accuracy of the rope pulley assembly 10.

[0068] In some possible implementations, the bolt head 222 of the adjustment member 22 has a flat-head, cross-head, external hexagonal, or internal hexagonal structure, which is convenient for screwing using tools such as a flat-head screwdriver and a cross screwdriver to achieve pre-tightening adjustment of the drive rope 20.

[0069] Combination Figure 4 , 3 As shown, in some embodiments, the rope fixing member 21 includes a body 211 ; the body 211 includes a threaded hole 2111 , and the adjusting member 22 is threadedly connected to the body 211 through the threaded hole 2111 .

[0070] In the rope pulley assembly 10 of this embodiment, the rope fixing member 21 includes a body 211, and the body 211 includes a threaded hole 2111, so as to realize the threaded connection between the rope fixing member 21 and the adjusting member 22, which has a simple structure, high reliability, and convenient assembly and adjustment.

[0071] Exemplarily, an inner circumferential surface of the threaded hole 2111 is provided with an internal thread, an outer circumferential surface of the adjusting member 22 is provided with an external thread, and the threaded hole 2111 and the adjusting hole 131 are threadedly engaged.

[0072] Combination Figure 4 As shown, in some embodiments, the main body 211 also includes a first rope passing channel 2212 and an avoidance groove 2213; the first rope passing channel 2212 and the threaded hole 2111 are respectively located at two ends of the main body 211, and the avoidance groove 2213 is located in the main body 211 and is connected to the first rope passing channel 2212; the driving rope 20 passes through the first rope passing channel 2212, and the ball head 3 is located in the avoidance groove 2213.

[0073] In the rope pulley assembly 10 of this embodiment, the body 211 of the rope fixing member 21 includes a first rope passing channel 2212 and an escape groove 2213 . The first rope passing channel 2212 is used for passing the driving rope 20 .

[0074] The driving rope 20 passes through the first rope passage 2212 , and the ball head 3 is accommodated and blocked in the avoidance groove 2213 , thereby achieving reliable fixation of the driving rope 20 .

[0075] In some possible implementations, the ball head 3 is fixedly connected to the end of the driving rope 20 by using processes such as die-casting, welding, and stamping.

[0076] Combination Figure 2 As shown, in some embodiments, the rope wheel 1 further includes a second rope passing channel 14 , and the second rope passing channel 14 is connected between the adjusting groove 13 and the rope winding portion 11 .

[0077] In the rope pulley assembly 10 of the present embodiment, the rope pulley 1 is provided with a second rope passage 14 for routing the driving rope 20 between the adjusting groove 13 and the rope winding portion 11, and the second rope passage 14 connects the adjusting groove 13 and the rope winding portion 11 to avoid normal winding of the driving rope 20 of the rope winding portion 11.

[0078] In some possible implementations, the adjustment groove 13 is located on any chord of the rope wheel 1, which divides the rope winding part 11 into a major arc and a minor arc; a rope guide slope 141 is provided at the junction of the second rope passage 14 and the rope winding part 11, and the rope guide slope 141 faces the major arc.

[0079] That is, the driving rope 20 drawn out or introduced into the adjustment groove 13 is wound toward the side where the major arc is located. Among them, the part between any two points on the circle is called an arc. The two end points of the diameter divide the circle into two arcs, and each arc is called a semicircle. The arc larger than the semicircle is called the major arc. The arc smaller than the semicircle is called the minor arc.

[0080] Thus, in the rope pulley assembly 10 of this embodiment, after the driving rope 20 is introduced into or led out of the adjusting groove 13, it can bend and transition to the rope winding part 11 more smoothly under the action of the rope guiding slope 141 of the first rope passing channel 2212, thereby avoiding damage to the driving rope 20 due to excessive turning angle.

[0081] In the description of the present disclosure, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0082] Combination Figure 1 , 2 As shown, in some embodiments, the adjusting groove 13 is located at one axial end of the rope wheel 1.

[0083] In the rope pulley assembly 10 of this embodiment, the adjustment groove 13 is located at one axial end of the rope pulley 1, and the adjustment groove 13 is open toward the outer side of the axial end surface of the rope pulley 1, thereby facilitating the installation and disassembly of the rope fixing member 21 and the adjusting member 22, and reducing the difficulty of assembly and maintenance of the pretensioning device 2.

[0084] The rope fixing member 21 and the adjusting member 22 face outwards, which makes it easy to observe the position of the rope fixing member 21 and improves the preload adjustment efficiency.

[0085] In addition, the adjustment groove 13 is located at one axial end of the rope wheel 1, and the preload device 2 is also located at one axial end of the rope wheel 1. The drive rope 20 is introduced or led out from one axial end of the rope wheel 1, and the axial middle area of ​​the rope wheel 1 can be avoided as the main winding area of ​​the drive rope 20.

[0086] In some possible implementations, a scale (not shown in the figure) is provided on the edge of the adjustment groove 13, and the scale shows the specific position of the rope fixing member 21 in the adjustment groove 13. By observing the scale reading corresponding to the position of the rope fixing member 21, the size of the preload force can be intuitively determined, which is simple and efficient.

[0087] Exemplarily, the scale is formed on the end surface of the rope pulley 1 by drawing, printing, engraving, etc., and extends along the long side of the adjustment groove 13.

[0088] For example, one end of the adjustment slot 13 (also refer to Figure 2 The middle adjustment groove 13 is connected to the second rope passage 14 at one end), and the opposite end (also refer to Figure 2 The end where the middle adjustment slot 13 is connected to the adjustment hole 131 , the scale is marked with 0mm, 5mm, 10mm, 15mm, 20mm, 25mm and so on in sequence along one long side of the adjustment slot 13 .

[0089] Combination Figure 2 As shown, in some embodiments, the rope pulley 1 includes a rim body 15 , a hub body 16 and a spoke body 17 .

[0090] The spoke body 17 is connected between the rim body 15 and the hub body 16 ; the rope winding portion 11 is located on the outer circumference of the rim body 15 , and the shaft hole portion 12 is located on the inner circumference of the hub body 16 .

[0091] In the rope pulley assembly 10 of this embodiment, the rope pulley 1 comprises three parts: a rim body 15, a hub body 16 and a spoke body 17. The outer circumference of the rim body 15 forms a rope winding portion 11 for winding a driving rope 20, and the inner circumference of the hub body 16 forms an axial hole portion 12 for connecting with a driving shaft, a transmission shaft, etc. The spoke body 17 is connected between the rim body 15 and the hub body 16, and is used to connect the rim body 15 and the hub body 16 as a whole to form a complete rope pulley 1.

[0092] The rope wheel 1 of this embodiment has high strength and small moment of inertia, good working performance, and can meet the requirements of high-precision and high-load reliable operation of the rope drive mechanism.

[0093] Combination Figure 2 As shown, in some embodiments, the rope pulley 1 further includes a reinforcement body 18 ; the reinforcement body 18 is located on the inner side of the rim body 15 , and the adjustment groove 13 is located on the reinforcement body 18 .

[0094] In the rope pulley assembly 10 of this embodiment, in order to facilitate the installation of the adjustment groove 13 and the pretensioning device 2, a reinforcement body 18 is added to the inner side of the rim body 15, and the adjustment groove 13 is opened on the reinforcement body 18, close to the rope winding part 11 on the outer peripheral surface of the rim body 15, so as to facilitate the connection of the drive rope 20.

[0095] The adjusting groove 13 is provided on the reinforcing body 18 to avoid damage to the stable structure of the rope wheel 1 and ensure the structural strength of the rope wheel 1.

[0096] Combination Figure 2 As shown, in some embodiments, the adjustment groove 13 is located on the spoke body 17. In the sheave assembly 10 of this embodiment, considering the small diameter of the sheave 1 and the interference of the spoke body 17, the adjustment groove 13 can be opened on the spoke body 17 to reasonably utilize the spatial structure of the spoke body 17.

[0097] Combination Figure 5 , 6 As shown, in some embodiments, the number of the rope winding parts 11 is at least two, and the at least two rope winding parts 11 are arranged axially; each rope winding part 11 is respectively provided with at least one adjustment groove 13, and the pre-tightening device 2 is respectively installed in the adjustment groove 13.

[0098] In the rope pulley assembly 10 of this embodiment, in order to improve the working capacity of the rope pulley 1 and realize the coordinated work of multiple driving ropes 20, two or more rope winding parts 11 are provided on the rope pulley 1, and the two or more rope winding parts 11 are arranged along the axis of the rope pulley 1, and torque can be transmitted between different rope winding parts 11. Exemplarily, at least two rope winding parts 11 are arranged spaced or adjacently in the axial direction.

[0099] For example, refer to Figure 5 As shown, the rope wheel 1 has two rope winding parts 11 arranged axially adjacent to each other; Figure 6 As shown, the rope wheel 1 has three rope winding parts 11, wherein two rope winding parts 11 are arranged adjacent to each other in the axial direction, and the other rope winding part 11 is arranged spaced apart in the axial direction.

[0100] The rope wheel assembly 10 of this embodiment is designed with at least two rope winding parts 11, so that the rope wheel 1 can adapt to various driving scenarios and meet the transmission requirements of different rope driving mechanisms, and has high applicability and practicality.

[0101] As another example, each rope winding portion 11 is provided with a number of adjustment slots 13 , such as 1, 2, etc. The number of adjustment slots 13 determines the number of drive ropes 20 that can be fixed and wound by the rope winding portion 11 .

[0102] In some embodiments, at least two rope winding parts 11 have different outer diameters. Thus, rope winding parts 11 with different outer diameters can achieve changes in input and output rotation speeds and torques, further enriching the application scenarios of the rope pulley assembly 10.

[0103] The working process of the rope sheave assembly 10 disclosed in the present invention is as follows:

[0104] After one end of the driving rope 20 passes through the first rope passage 2212, a ball head 3 is formed at this end, and the ball head 3 is placed in the avoidance groove 2213. The ball head 3 is in close contact with the avoidance groove 2213, so that this end of the driving rope 20 is fixed to the main body 211 and cannot move relatively, and the driving rope 20 and the main body 211 form a whole.

[0105] The body 211 is installed into the adjustment groove 13, and the driving rope 20 is led out to the rope winding part 11 through the second rope passage 14 and wound along the direction of the major arc, and the other end is connected to other structures (such as a drive or other rope wheels).

[0106] The adjusting member 22 is inserted into the countersunk hole 132 on the outer peripheral surface of the rope winding portion 11 , and the screw portion 221 passes through the adjusting hole 131 until it is engaged with the threaded hole 2111 of the body 211 , and the bolt head 222 is limited in the countersunk hole 132 .

[0107] When adjusting the preload, insert the tool into the countersunk hole 132, and by screwing the bolt head 222, change the meshing length between the screw portion 221 and the threaded hole 2111, change the axial position of the body 211, and the body 211 approaches the adjustment hole 131. The body 211 pulls the drive rope 20 through the ball head 3, so that the length of the drive rope 20 entering the adjustment groove 13 is increased, thereby increasing the tension of the drive rope 20. Conversely, screw the bolt head 222 in the opposite direction, the body 211 is away from the adjustment hole 131, the body 211 releases the ball head 3 outward, and part of the drive rope 20 exits the adjustment groove 13, thereby reducing the tension of the drive rope 20.

[0108] The "several" and "at least one" mentioned in this article refer to one or more, and "multiple" and "at least two" refer to two or more. "And / or" describes the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0109] On the other hand, combined Figure 1 As shown, this embodiment provides a rope drive mechanism, which includes: the rope wheel assembly 10 disclosed in the present invention, and a drive rope 20; the drive rope 20 includes at least one ball head 3, and the at least one ball head 3 is connected to the rope fixing member 21.

[0110] The rope drive mechanism of this embodiment adopts the rope wheel assembly 10 described in the present disclosure and has all the technical effects of the present disclosure.

[0111] In some embodiments, the rope drive mechanism further includes a driver; the driver is connected to the shaft hole portion 12, driving the rope wheel 1 to rotate, and the rope wheel 1 is wound around the traction driving rope 20. In the rope drive mechanism of this embodiment, the rope wheel 1 is connected to the driver and driven to rotate by the driver, as an active part, by traction driving rope 20, driving the driven part to complete the transmission work.

[0112] In some embodiments, the driver is connected to the driving rope 20, the driver pulls the driving rope 20, and the driving rope 20 drives the rope wheel 1 to rotate. In the rope driving mechanism of this embodiment, the rope wheel 1 is connected to the driver through the driving rope 20, and the driver drives the rope wheel 1 to rotate by pulling the driving rope 20. As a passive part, the traction force transmitted by the driving rope 20 can be changed into a torque around the shaft hole 12, driving the movable part connected to the shaft hole 12 to rotate.

[0113] Exemplarily, the drive includes but is not limited to a motor, a winch, etc. In another exemplary embodiment, the drive is an assembled drive consisting of a motor and a speed reducer.

[0114] On the other hand, combined Figure 7 As shown, this embodiment provides a mechanical arm, which includes: the rope wheel assembly 10 of the present disclosure, or the rope driving mechanism of the present disclosure.

[0115] The mechanical arm of this embodiment adopts the rope pulley assembly 10 or rope drive mechanism described in the present disclosure, and has all the technical effects of the present disclosure.

[0116] refer to Figure 7 In some possible implementations, the mechanical arm further includes a mechanical shoulder joint 100 , a mechanical elbow joint 200 , and a mechanical wrist joint 300 ; the pulley assembly 10 is at least located in the mechanical shoulder joint 100 .

[0117] The mechanical shoulder joint 100 includes a shoulder fixing part 1001, a shoulder movable part 1002 and a shoulder driver 1003; the pulley assembly 10 is connected to the shoulder driver 1003 through a driving rope 20, and the shoulder driver 1001 drives the pulley assembly 10 through the driving rope 20 to drive the shoulder movable part 1002 to rotate relative to the shoulder fixing part 1001.

[0118] In the robot arm of this embodiment, the drive rope 20 is connected via the rope pulley assembly 10, so that the preload force of the drive rope 20 can be adjusted, the transmission accuracy of the robot arm can be improved, and the working performance of the robot arm can be enhanced.

[0119] It should be pointed out that in the description of the present disclosure, it should be explained that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0120] In the present disclosure, unless otherwise expressly specified and limited, a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being “above”, “above”, and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0121] In the description of this specification, the reference terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present disclosure.

[0122] The above descriptions are merely embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A sheave assembly, characterized in that: The rope pulley assembly (10) comprises: a rope pulley (1) and a pre-tightening device (2); The rope wheel (1) comprises a rope winding portion (11), an axial hole portion (12) and an adjustment groove (13); the adjustment groove (13) is located radially inside the rope winding portion (11), and the adjustment groove (13) is communicated with the rope winding portion (11); The pre-tightening device (2) comprises a rope fixing member (21) and an adjusting member (22); the rope fixing member (21) is movably located in the adjusting groove (13), and the rope fixing member (21) is used to connect the ball head (3) of the driving rope (20); the adjusting member (22) is connected to the rope fixing member (21), and the adjusting member (22) can adjust the position of the rope fixing member (21) in the adjusting groove (13); An adjustment hole (131) is provided in the adjustment groove (13); the adjustment hole (131) is located on the groove side wall where the movement direction of the rope fixing member (21) in the adjustment groove (13) is located; The two ends of the adjusting member (22) are respectively connected to the adjusting hole (131) and the rope fixing member (21), and at least one of the two ends of the adjusting member (22) is threadedly connected; The rope fixing member (21) comprises a body (211); the body (211) comprises a threaded hole (2111) and a first rope passage (2212); the first rope passage (2212) and the threaded hole (2111) are respectively located at two ends of the body (211); the adjusting member (22) is threadedly connected to the body (211) through the threaded hole (2111); and the driving rope (20) passes through the first rope passage (2212); The adjustment hole (131), the threaded hole (2111) and the first rope passage (2212) are coaxially arranged; The rope wheel (1) further comprises a second rope passage (14), wherein the second rope passage (14) is connected between the adjustment groove (13) and the rope winding portion (11); the adjustment groove (13) is located on any one chord of the rope wheel (1), and the chord divides the rope winding portion (11) into a major arc and a minor arc; a rope guiding slope (141) is provided at the junction of the second rope passage (14) and the rope winding portion (11), and the rope guiding slope (141) faces the major arc; The adjustment groove (13) is located at one axial end of the rope wheel (1), and the second rope passage (14) is open toward the corresponding axial end of the rope wheel (1).

2. The rope pulley assembly according to claim 1, characterized in that: The adjusting hole (131) penetrates axially to the outer peripheral surface of the rope wheel (1), and a countersunk hole (132) is provided at the end of the adjusting hole (131); The adjusting member (22) comprises a screw rod portion (221) and a bolt head (222), wherein the bolt head (222) is located in the countersunk hole (132), and the screw rod portion (221) passes through the adjusting hole (131) and is connected to the rope fixing member (21).

3. The rope pulley assembly according to claim 1, characterized in that: The body (211) further includes an avoidance groove (2213); The avoidance groove (2213) is located in the body (211) and is in communication with the first rope passage (2212); the driving rope (20) passes through the first rope passage (2212), and the ball head (3) is located in the avoidance groove (2213).

4. The rope pulley assembly according to any one of claims 1 to 3, characterized in that: The rope pulley (1) comprises a rim body (15), a hub body (16) and a spoke body (17); The spoke body (17) is connected between the rim body (15) and the hub body (16); the rope winding portion (11) is located on the outer peripheral surface of the rim body (15), and the shaft hole portion (12) is located on the inner peripheral surface of the hub body (16).

5. The rope pulley assembly according to claim 4, characterized in that: The rope wheel (1) further comprises a reinforcing body (18); the reinforcing body (18) is located on the inner side surface of the rim body (15), and the adjusting groove (13) is located on the reinforcing body (18); or, The adjustment groove (13) is located on the spoke body (17).

6. The rope pulley assembly according to claim 1, characterized in that The number of the rope winding parts (11) is at least two, and the at least two rope winding parts (11) are arranged along the axial direction; each rope winding part (11) is respectively provided with at least one adjustment groove (13).

7. The rope pulley assembly according to claim 6, characterized in that At least two of the rope winding parts (11) have different outer diameters.

8. A rope drive mechanism, characterized in that: The rope drive mechanism comprises: a rope pulley assembly (10) according to any one of claims 1 to 7, and a drive rope (20); The drive rope (20) comprises at least one ball head (3), and the at least one ball head (3) is connected to the rope fixing member (21).

9. The rope drive mechanism according to claim 8, characterized in that: The rope drive mechanism also includes a driver; The driver is connected to the shaft hole portion (12) to drive the rope wheel (1) to rotate, and the rope wheel (1) winds around and pulls the driving rope (20); and / or, The driver is connected to the driving rope (20), the driver pulls the driving rope (20), and the driving rope (20) drives the rope wheel (1) to rotate.

10. A robotic arm, characterized in that: The mechanical arm comprises: a rope pulley assembly (10) according to any one of claims 1 to 7, or a rope drive mechanism according to any one of claims 8 and 9.

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