The load-bearing components, metacarpophalangeal joints, and robot of the tendon-driven robot

Abstract

This application discloses a load-bearing component for a tendon-driven robot. The load-bearing component includes a load-bearing body and a tendon sheath constraint structure disposed on the load-bearing body. The tendon sheath constraint structure is configured to allow the tendon sheath to slide through it. By providing the tendon sheath constraint structure on the load-bearing component, this application can constrain the tendon sheath passing through the load-bearing component and constrain the position of the tendon sheath at the load-bearing component.

Description

Technical Field

[0001] This application belongs to the field of tendon-driven robotics technology, and more specifically, relates to the load-bearing components, metacarpophalangeal joints, and robots of tendon-driven robots. Background Technology

[0002] Robots typically have multiple cascaded joints. To achieve independent control of each joint within confined spaces, tendon drive technology is currently used to drive multiple joints in robotic arms. Tendon drive components have tendon sheaths on the outside of the tendons, which constrain the tendon's direction. One end of the tendon sheath is fixed to a point on the joint, while the other end is typically fixed to the robot's drive mechanism. Multi-degree-of-freedom robots usually have a large number of tendons and tendon sheaths.

[0003] The robot also has load-bearing components. Taking a robotic hand as an example, the robotic hand includes a hand module. The hand module includes multiple joints and multiple load-bearing components. Specifically, the hand module may include a palm base, a palm module, and multiple fingers. The palm module may include, in sequence, a wrist-to-palm joint, a metacarpophalangeal joint, and a metacarpophalangeal joint; or, the palm unit may include, in sequence, a metacarpophalangeal joint and a metacarpophalangeal joint. The fingers include finger joints and finger phalanges. The load-bearing components of the robotic hand include the metacarpophalangeal joints and finger joints.

[0004] How to design the load-bearing component, and how to consider the relationship between the tendon sheath and the load-bearing component when the tendon sheath passes through the load-bearing component, are issues that those skilled in the art need to consider. Summary of the Invention

[0005] To address the technical problems of the prior art, embodiments of this application provide a load-bearing component, metacarpophalangeal joint, and robot for a tendon-driven robot.

[0006] To achieve the above objectives, this application provides a load-bearing component for a tendon-driven robot. The load-bearing component includes a load-bearing body and a tendon sheath constraint structure disposed on the load-bearing body. The tendon sheath constraint structure is configured to allow the tendon sheath to slide through it. The tendon sheath constraint structure includes a tendon sheath constraint portion.

[0007] In one embodiment of this application, the tendon sheath constraint structure includes two tendon sheath constraint portions and a limiting portion between the two tendon sheath constraint portions. The limiting portion is configured to restrict the tendon sheath in the top space of the tendon sheath constraint structure, and the limiting portion forms a receiving space at the load-bearing member.

[0008] In one embodiment of this application, the tendon sheath constraint structure further includes an opening located on the side.

[0009] In one embodiment of this application, the tendon sheath constraint portion includes at least one of a constraint groove, a constraint hole, a channel, and an elastic structure that wraps around or surrounds the load-bearing component.

[0010] In one embodiment of this application, the tendon sheath constraint structure is a single-layer structure, and the tendon sheath constraint structure includes a plurality of tendon sheath constraint positions arranged in parallel.

[0011] In one embodiment of this application, a transition portion is provided at one end of the tendon sheath constraint portion; the transition portion includes a flared structure located at the end of the tendon sheath constraint portion; the height of the end of the transition portion is adapted to the height of the tendon sheath constraint structure of the metacarpophalangeal joint.

[0012] In one embodiment of this application, the two tendon sheath constraint structures are detachably disposed on both sides of the load-bearing body.

[0013] In one embodiment of this application, the load-bearing body is further provided with a receiving portion for the actuating element, and the receiving portion is an enclosing structure.

[0014] This application also provides a metacarpophalangeal joint, including the load-bearing component of the tendon-driven robot as described above.

[0015] This application also provides a robot including multiple joints; it also includes a load-bearing component of the tendon-driven robot as described above.

[0016] The beneficial effects of this application are as follows:

[0017] This application provides a tendon sheath constraint structure on the load-bearing component. The tendon sheath constraint structure is configured to allow the tendon sheath to slide through it, thereby constraining the tendon sheath as it passes through the load-bearing component and constraining its position. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural schematic diagram of a load-bearing component of a tendon-driven robot provided in Embodiment 1 of this application;

[0020] Figure 2 A cross-sectional view of a load-bearing component of a tendon-driven robot provided in Embodiment 1 of this application;

[0021] Figure 3This is a schematic diagram of the tendon sheath constraint structure of the load-bearing component of the first tendon-driven robot provided in Embodiment 1 of this application.

[0022] The following are the labeling elements in the figure:

[0023] The structure includes a load-bearing body 10, a receiving part 11, a tendon sheath constraint structure 20, a tendon sheath constraint part 21, a limiting part 22, an opening 23, a receiving space 24, a tendon sheath constraint position 202, and a transition part 201. Detailed Implementation

[0024] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0025] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0026] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0028] The following describes the load-bearing components, metacarpophalangeal joints, and the robot of the tendon-driven robot of this application.

[0029] Example 1

[0030] Please see Figures 1-3 This application provides a load-bearing component for a tendon-driven robot.

[0031] Taking a robotic hand as an example, the robotic hand includes a hand module. The hand module includes multiple joints and multiple load-bearing components. The hand module may include a palm base, a palm module, and multiple fingers. The palm module may include a wrist-metacarpophalangeal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint arranged sequentially; or, the palm unit may include a metacarpophalangeal joint and a metacarpophalangeal joint arranged sequentially. The fingers include finger joints and finger joints. The load-bearing components of the robotic hand include metacarpophalangeal joints and finger joints. When one joint is a driven joint, a tendon sheath located on the outer side of the tendon used to drive the movement of that joint is referred to below as the tendon sheath of that joint. For example, the tendon sheath corresponding to a metacarpophalangeal joint passes through the metacarpophalangeal joint, and the tendon sheath corresponding to a finger joint passes through the metacarpophalangeal joint and the metacarpophalangeal joint sequentially. Multiple tendon sheaths are typically provided at the metacarpophalangeal joint of the corresponding finger. It is understood that the load-bearing components of a robot include, but are not limited to, the metacarpophalangeal joints and finger joints of the robotic hand. The following uses a robotic hand as an example to describe the load-bearing components.

[0032] The load-bearing component includes a load-bearing body (10) and a tendon sheath restraint structure (20) disposed on the load-bearing body (10). When the tendon sheath passes through the load-bearing component, the tendon sheath restraint structure (20) is configured to allow the tendon sheath to slide through it. The tendon sheath restraint structure (20) restrains the position of the tendon sheath as it passes through the load-bearing component.

[0033] Regarding the first embodiment of the tendon sheath constraint structure (20):

[0034] The tendon sheath constraint structure (20) includes a tendon sheath constraint portion (21) configured to allow the tendon sheath to slide through it.

[0035] The tendon sheath restraint part (21) can be a separate part, detachably mounted on the load-bearing body (10); or, the tendon sheath restraint part (21) can be directly formed on the load-bearing body (10).

[0036] The tendon sheath constraint part (21) may include at least one of the following: constraint groove, constraint hole, and channel.

[0037] In one specific embodiment, the tendon sheath constraint portion (21) may include a constraint groove, in which a portion of the tendon sheath is positioned when passing over the load-bearing component. For example, a groove may be provided on the surface of the finger joint serving as the load-bearing component along the arrangement direction of the tendon sheath as the constraint groove. The constraint groove may be provided protrudingly or recessedly on the load-bearing body, which prevents the tendon sheath from protruding from the surface of the load-bearing component, allowing the tendon sheath to slide through it.

[0038] In one specific embodiment, the tendon sheath constraint portion (21) includes a constraint hole through which the tendon sheath passes.

[0039] In one specific embodiment, such as Figure 2 As shown, the tendon sheath restraint portion (21) may include a channel. For example, a channel may be provided on the metacarpophalangeal joint so that the tendon sheath can pass through the channel. The cross-sectional shape of the channel is not limited, and the interior may be rounded.

[0040] The tendon sheath constraint structure (20) can be a single-layer structure or a multi-layer structure.

[0041] In one embodiment, the tendon sheath constraint structure (20) is a multi-layer structure. For example, when multiple tendon sheaths pass through, multiple constraint grooves, constraint holes, or channels are arranged in a layered structure so that different tendon sheaths can pass through.

[0042] In one embodiment, the tendon sheath constraint structure (20) is a single-layer structure, and multiple tendon sheath constraint parts (21) (such as constraint grooves or constraint holes) are arranged side by side to form a structure similar to multiple slides; for example, multiple strip-shaped constraint grooves arranged side by side on the finger joint serve as tendon sheath constraint positions (202). The multiple tendon sheath constraint positions (202) arranged side by side can isolate multiple tendon sheaths to a certain extent, preventing multiple tendon sheaths from getting tangled or intertwined after entering the tendon sheath constraint structure (20).

[0043] Alternatively, in one embodiment, the tendon sheath constraint structure (20) is a single-layer structure, such as... Figure 3 As shown, the tendon sheath constraint part (21) may include a plurality of tendon sheath constraint positions (202) arranged in parallel, forming a structure similar to a multi-slide track.

[0044] The cross-sectional shape of the tendon sheath constraint position (202) has a smooth profile, for example, the cross-sectional shape may include multiple arcs or multiple circular arc shapes.

[0045] The load-bearing component is typically connected to one or more joints, and the tendon sheath passes sequentially through the joint and the load-bearing component. When the joint has multiple degrees of freedom, the tendon sheath of the joint may move with the joint and have a large range of motion. The tendon sheath coming from the joint may not be able to smoothly enter the tendon sheath constraint structure (20) at the load-bearing component, or, because the tendon sheath may move with the joint, the tendon sheath may be stuck in the tendon sheath constraint structure (20). For example, the metacarpophalangeal joint has one pitch degree of freedom and one lateral swing degree of freedom. When the metacarpophalangeal joint performs a compound movement, it pitches about axis one and laterally swings about axis two. The pitch degree of freedom of the metacarpophalangeal joint is driven by tendon transmission, and when the metacarpophalangeal joint swings laterally, the tendon sheath corresponding to the metacarpophalangeal joint and the tendon sheath corresponding to the finger joint also swing together. Since the tendon sheath may swing with the metacarpophalangeal joint, the tendon sheath may get stuck when it enters the tendon sheath constraint structure (20) at the connection position between the metacarpophalangeal joint (load-bearing component) and the metacarpophalangeal joint.

[0046] In one embodiment, the tendon sheath constraint portion (21) of the tendon sheath constraint structure (20) has a transition portion (201) at an end position near the joint. The transition portion (201) may include a flared structure located at the end of the tendon sheath constraint portion (21). By providing the transition portion (201), the tendon sheath can smoothly enter the tendon sheath constraint portion (21) through the transition portion (201) when the metacarpophalangeal joint swings, and avoids being stuck in the tendon sheath constraint structure (20) due to excessive swinging of the tendon sheath.

[0047] Regarding the transition section (201), in the horizontal direction, the cross-sectional shape of the transition section (201) is a funnel shape with dimensions gradually increasing from the inside to the outside, such as... Figure 3 The diagram shown is a horizontally cut-out view of the tendon sheath constraint structure (20).

[0048] Furthermore, since there may be a height difference between the load-bearing component and the connected joint, for example, a height difference between the metacarpophalangeal joint and the metacarpophalangeal joint, or a height difference between the metacarpophalangeal joint and the carpometacarpophalangeal joint, the top position of the transition portion (201) is increased from the inside to the outside in the height direction to improve the height difference between the metacarpophalangeal joint and the metacarpophalangeal joint, making the path of the tendon sheath smoother when passing through.

[0049] In a preferred embodiment, the tendon sheath constraint structure (20) is configured to detachably constrain the tendon sheath to the load-bearing body.

[0050] A second embodiment of the tendon sheath constraint structure (20):

[0051] Unlike the first embodiment of the tendon sheath constraint structure (20), as a further improvement, the tendon sheath constraint structure (20) includes not only the tendon sheath constraint portion (21) but also a limiting portion (22). The tendon sheath extends along the tendon sheath constraint structure (20) as shown... Figure 2 When passing through in the horizontal direction, the limiting part (22) is configured to restrict the tendon sheath in the top space of the tendon sheath constraint structure (20), thereby restricting the tendon sheath from curling and deforming upwards (top direction). The limiting part (22) also forms a receiving space (24) at the load-bearing structure, which provides space for the tendon sheath to curl and deform.

[0052] Furthermore, the limiting portion (22) of the tendon sheath constraint structure (20) also includes an opening (23) located on the side, which can be directly or indirectly formed by the limiting portion (22). When the receiving space (24) formed by the limiting portion (22) on the load-bearing structure cannot provide sufficient space for the tendon sheath to curl and deform, the tendon sheath can curl and move laterally from the opening (23).

[0053] The tendon sheath restraint part (21) and the limiting part (22) can be separate structures, or the tendon sheath restraint part (21) and the limiting part (22) can be an integral structure.

[0054] In one embodiment, the load-bearing component includes one or more tendon sheath restraint structures (20) disposed on the load-bearing body (10).

[0055] In one embodiment, the tendon sheath constraint structure (20) may include one or more tendon sheath constraint portions (21).

[0056] When the load-bearing component is a metacarpophalangeal joint, the following is one specific implementation of the metacarpophalangeal joint.

[0057] The tendon sheath constraint structure (20) on the metacarpophalangeal joint includes two tendon sheath constraint portions (21), which may be located at both ends of the metacarpophalangeal joint. When the tendon sheath passes through the metacarpophalangeal joint, it passes sequentially through the first tendon sheath constraint portion (21) and the second tendon sheath constraint portion (21) at both ends of the metacarpophalangeal joint.

[0058] In a preferred embodiment, the tendon sheath constraint structure (20) includes a limiting portion (22) between two tendon sheath constraint portions (21), the limiting portion (22) being configured to restrict the top space of the tendon sheath in the tendon sheath constraint structure (20). The limiting portion (22) can restrict the upward curling and deformation of the tendon sheath located between the first tendon sheath constraint structure (20) and the second tendon sheath constraint structure (20). The limiting portion (22) can be a limiting plate, the two ends of which can be located on the two tendon sheath constraint structures (20) respectively; or, the limiting portion (22) can be a limiting element, the limiting element being fixed on the metacarpophalangeal joint, the top of the limiting portion (22) restricting the upward curling and deformation of the tendon sheath.

[0059] Furthermore, when the limiting part (22) is a limiting plate or a limiting element, the limiting part (22) can form a receiving space (24) at the load-bearing structure (such as the metacarpophalangeal joint), and the receiving space (24) can provide space for the tendon sheath to curl and deform. Furthermore, the limiting part (22) of the tendon sheath constraint structure (20) also includes an opening (23) located on the side, which can be directly or indirectly formed by the limiting part (22). For example, the gap between the limiting plate and the metacarpophalangeal joint forms the opening (23) on the side, or the limiting element has an opening (23) on its side. When the receiving space (24) formed by the limiting part (22) on the metacarpophalangeal joint cannot provide sufficient space for the tendon sheath to curl and deform, the tendon sheath can curl and move laterally from the opening (23).

[0060] The two tendon sheath restraint portions (21) and the limiting portion (22) of the metacarpophalangeal joint can be separate components, such as... Figure 3 As shown; or, any two of them can be an integral structure; or, the two tendon sheath restraint parts (21) and the tendon sheath restraint structure (20) can be designed as an integral unit.

[0061] A third embodiment of the tendon sheath constraint structure (20):

[0062] In one specific embodiment, the tendon sheath constraint structure (20) may also be an elastic structure that wraps around or wraps around the load-bearing component.

[0063] The elastic structure may include an elastic cord or band wrapped around a load-bearing body. For example, an elastic structure may be wrapped around the finger joint to constrain the tendon sheath. By wrapping or encasing the tendon sheath around the joint with the elastic structure, on the one hand, the elastic structure provides an elastic force to the tendon sheath in the direction of the load-bearing component to limit the position and deformation range of the tendon sheath at the load-bearing component; on the other hand, the elastic structure allows the tendon sheath to undergo a certain amount of curling and deformation. Alternatively, the elastic structure may include a woven structure formed of elastic cord or band, which provides an elastic force to the tendon sheath in the direction of the load-bearing component to limit the position and deformation range of the tendon sheath. Or, the elastic structure may include a flexible envelope element, which may also be formed of an elastic polymer material. For example, the elastic structure is a molded part, such as an elastic sleeve, formed by molding an elastic polymer material into a rubber part, silicone part, or other molded component.

[0064] Preferably, when the tendon sheath constraint structure (20) includes a tendon sheath constraint portion (21) such as a constraint groove formed on the load-bearing member,

[0065] The tendon sheath can be further constrained by wrapping an elastic structure, such as an elastic rope or elastic band, around the load-bearing component.

[0066] Regarding the implementation scheme of the load-bearing body (10):

[0067] In one embodiment, a receiving portion (11) for an actuator is further provided on the load-bearing body (10). The receiving portion (11) can accommodate actuators for driving other joints of the robotic arm. For example, the actuator provided at the metacarpophalangeal joint can be used to drive the lateral swing degree of the metacarpophalangeal joint. The actuator may include, but is not limited to, motors, hydraulic components, pneumatic actuators, electro-actuated material components, artificial muscles, etc. Preferably, the actuator is a motor.

[0068] Furthermore, the housing (11) is an enclosing structure, such as a semi-enclosed or fully enclosed structure, used to install the motor and to partially or fully enclose it. The enclosing structure serves two purposes: isolating electromagnetic radiation and providing waterproofing and dustproofing. Understandably, the end of the actuator extends from the housing (11), for example, the output end of the motor and the electrical connection end of the motor.

[0069] Example 2

[0070] This application also provides a metacarpophalangeal joint, which includes the load-bearing component of the tendon-driven robot described above.

[0071] The metacarpophalangeal joint is connected to the metacarpophalangeal joint, which includes a base, a swinging structure, and a pitching structure.

[0072] The metacarpophalangeal joint is provided with a mounting port for positioning and installing the metacarpophalangeal joint (such as the base of the metacarpophalangeal joint). The mounting port may include a mounting hole located at one end of the metacarpophalangeal joint.

[0073] One end of the actuator can be fixed to the metacarpophalangeal joint, and the main body of the actuator is located inside the receiving part (11).

[0074] Example 3

[0075] This application also provides a robot, which includes multiple joints and a load-bearing component of the tendon-driven robot described above.

[0076] The load-bearing component can be used not only in the robot's manipulator but also in other load-bearing locations on the robot. It can also be used in other types of multi-jointed machines, such as robotic animals or robotic insects with multiple joints. It is understood that the applications of the load-bearing component are not limited to these.

[0077] The beneficial effects of this application are as follows:

[0078] This application provides a tendon sheath constraint structure on the load-bearing component. The tendon sheath constraint structure is configured to allow the tendon sheath to slide through it, thereby constraining the tendon sheath as it passes through the load-bearing component and constraining its position.

[0079] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A load-bearing component of a tendon-driven robot, characterized in that, The load-bearing component includes a load-bearing body and a tendon sheath constraint structure disposed on the load-bearing body. The tendon sheath constraint structure is configured to allow a tendon sheath to slide through it. The tendon sheath constraint structure includes two tendon sheath constraint portions and a limiting portion between the two tendon sheath constraint portions. Each tendon sheath constraint portion includes a channel configured to allow multiple tendon sheaths to pass through. Each end of the tendon sheath constraint structure is also provided with a transition portion. In the height direction, the height of the top position of the two transition portions increases from the inside to the outside. The top of the channel of at least one tendon sheath constraint portion includes a multi-slide structure formed by multiple tendon sheath constraint positions arranged side by side. In the horizontal direction, the cross-sectional shape of at least one transition portion is a trumpet shape with the size increasing from the inside to the outside.

2. The load-bearing component of the tendon-driven robot according to claim 1, characterized in that, The limiting portion is configured to restrict the tendon sheath in the top space of the tendon sheath constraint structure, and the limiting portion forms a receiving space at the load-bearing component.

3. The load-bearing component of the tendon-driven robot according to claim 2, characterized in that, The tendon sheath constraint structure also includes an opening on the side; the opening on the side is formed directly or indirectly by the limiting part.

4. The load-bearing component of the tendon-driven robot according to claim 1, characterized in that, The two tendon sheath restraint portions and the limiting portion are either separate structures or an integral structure.

5. The load-bearing component of the tendon-driven robot according to claim 1, characterized in that, The tendon sheath constraint structure is a multi-layered structure; or... The tendon sheath constraint structure is a single-layer structure.

6. The load-bearing component of the tendon-driven robot according to claim 1, characterized in that, The tendon sheath constraint structure includes an elastic structure that wraps around or surrounds the load-bearing component.

7. The load-bearing component of the tendon-driven robot according to claim 6, characterized in that, The load-bearing body has a constraint groove configured to allow the tendon sheath to slide through it; the elastic structure is wrapped around or enclosed on the load-bearing body.

8. The load-bearing component of the tendon-driven robot according to claim 6, characterized in that, The elastic structure includes an elastic rope or elastic band wound around a load-bearing body; or, the elastic structure includes a braided structure formed by an elastic rope or elastic band; or, the elastic structure includes a flexible envelope element.

9. The load-bearing component of the tendon-driven robot according to claim 1, characterized in that, The load-bearing body is also provided with a receiving part for the actuating element, which is a semi-enclosed structure or a fully enclosed structure.

10. A metacarpophalangeal joint, characterized in that, Includes the load-bearing components of the tendon-driven robot as described in any one of claims 1-9.

11. A robot comprising multiple joints; the robot's manipulator includes a hand module, the hand module comprising a palm base, a palm module, and multiple fingers; the palm module comprising metacarpophalangeal joints and metacarpophalangeal joints; the fingers comprising phalanges and phalanges. Its features are, The metacarpophalangeal joint includes a load-bearing component of the tendon-driven robot as described in any one of claims 1-9; the tendon sheath corresponding to the metacarpophalangeal joint and / or the finger joint passes through the tendon sheath constraint structure of the metacarpophalangeal joint.

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