Rope-driven manipulator and robot

Abstract

The application provides a rope-driven manipulator and robot, wherein the rope-driven manipulator comprises a first arm and a second arm, and a mounting cavity is arranged in a second connecting joint. A first driving member is arranged in the mounting cavity, so that the mounting cavity is used as a shell of the first driving member, the structure is simplified, and the weight is reduced. The first driving member and the mounting cavity are designed as a whole, and the size of the whole machine is reduced. The first connecting joint is pivotally connected to the second connecting joint, and two ends of a first driving rope are respectively connected to a transmission member and the first connecting joint. Thus, the connecting position of the first connecting joint and the second connecting joint is used as one of rope wheels of the first driving rope, and the volume of the whole structure is further simplified. Moreover, the first driving member drives the transmission member to rotate through a second driving rope, and drives the first connecting joint to rotate around the second connecting joint through the first driving rope, so that the volume of the whole structure is simplified, the precision is improved, and the cost is reduced under the condition of maintaining the double rope driving structure.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a rope-driven manipulator and robot. Background Technology

[0002] In automation industries such as robotics and machine tools, the transmission solutions for robotic arms mostly employ motors and speed reducers. However, traditional speed reducer solutions suffer from transmission errors, which affect the robot's precision performance. At the same time, the total weight of the speed reducer also significantly impacts the overall performance of the robot.

[0003] Rope drive technology has gradually gained attention in the industry in recent years, and its application in the field of robotics is becoming increasingly widespread. The main advantages of rope drive technology are that the drive motor can be placed outside the arm, and the rope drive is relatively lightweight. By transmitting driving force to the driven joints through the rope transmission system, the weight of the arm itself can be effectively reduced, while still achieving high flexibility and precision requirements.

[0004] In recent years, rope-driven robots have emerged. Rope drives transmit power from the motor to the driven rope pulleys arranged at the joints. Through multi-stage cross transmission, the rotational motion of the motor is converted into the reciprocating swing of the robotic arm. However, the rope drive structure has a high load, resulting in a short lifespan of the drive rope and difficulty in ensuring the overall accuracy of the machine. At the same time, the active rope pulley is relatively long and the overall volume is large, making the structure relatively complex and unsuitable for long-distance transmission. Summary of the Invention

[0005] This application provides a rope-driven manipulator and robot, wherein the rope-driven manipulator adopts a dual-wheel drive, which simplifies the drive structure and reduces the overall structure and volume while adapting to long-distance transmission.

[0006] To address the aforementioned technical problems, this application proposes a rope-driven manipulator, comprising a first arm and a second arm. The first arm includes a first connecting joint. The second arm includes an arm body and a second connecting joint disposed on the arm body. The second connecting joint has a mounting cavity, and the first connecting joint is pivotally connected to the second connecting joint. The rope-driven manipulator further includes a transmission component, a first driving rope, a second driving rope, and a first driving component. The first driving component is disposed within the mounting cavity and includes an output shaft. The two ends of the first driving rope are respectively connected to the transmission component and the first connecting joint; the two ends of the second driving rope are respectively connected to the output shaft and the transmission component. The first driving component drives the transmission component to rotate via the second driving rope and drives the first connecting joint to rotate around the second connecting joint via the first driving rope.

[0007] Specifically, the transmission component includes a first pulley, which comprises a hollow wheel and an inner shaft disposed within the hollow wheel, the hollow wheel having a through hole. One end of the first drive rope is fixed to the inner shaft, and the other end of the first drive rope passes through the through hole and is fixed to the first connecting joint.

[0008] Specifically, the transmission component further includes a second rope pulley fixed coaxially with the first rope pulley. One end of the second drive rope is fixed to the output shaft, and the other end of the second drive rope is fixed to the second rope pulley.

[0009] Specifically, the transmission component further includes a connecting shaft, which is disposed on the side of the hollow pulley opposite to the inner shaft. The connecting shaft connects the first sheave and the second sheave. The connecting shaft is coaxial with the inner shaft.

[0010] Specifically, the connecting shaft is a hollow shaft.

[0011] Specifically, the first driving component further includes a stator and a rotor, the stator being fixed to the inner wall of the mounting cavity and surrounding the rotor.

[0012] Specifically, the transmission component is movably disposed on the arm body portion. The arm body portion further includes a connecting end opposite to the second connecting joint, wherein the distance from the center point of the arm body portion to the connecting end and the second connecting joint is equal. The transmission component is located between the second connecting joint and the center point.

[0013] Specifically, it also includes a drive motor, which includes a drive shaft. The drive shaft is connected to the connection end.

[0014] Specifically, the second connecting joint further includes a journal, through which the mounting cavity extends. A bearing is also provided on the journal, and the output shaft is disposed within the bearing.

[0015] Specifically, the second connecting joint includes a first part and a second part that are fixed to each other. The first part is formed by the protrusion of the arm body. The first part and the second part are coaxially arranged, and the first driving member further includes a stator and a rotor. The stator is fixed to the inner arm of the mounting cavity at the first part or the second part, and the stator surrounds the rotor.

[0016] Specifically, the transmission component includes a first pulley, a second pulley, and a connecting shaft, with the connecting shaft connecting the first pulley and the second pulley. The connecting shaft is rotatably mounted on the arm body. The two ends of the first drive rope are respectively connected to the first pulley and the first connecting joint. The two ends of the second drive rope are respectively connected to the second pulley and the output shaft.

[0017] Specifically, the first arm further includes an arm body, and the first connecting joint is connected to the arm body. The arm body is also provided with a second driving member and a driver that are electrically connected. The driver is disposed on the first connecting joint, and the second driving member is disposed at the connection between the arm body and the first connecting joint.

[0018] Specifically, the first connecting joint is a hollow sleeve, which is pivotally fitted onto the outer wall of the mounting cavity. The arm body has a mounting groove that extends to the outer wall connecting the hollow sleeve. The second driving member is housed within the mounting groove, and the driver is disposed on the end face of the hollow sleeve.

[0019] Another technical solution proposed in this application is to provide a robot, which includes the rope-driven manipulator described in any of the above claims.

[0020] The beneficial effects of this application are as follows: The rope-driven manipulator proposed in this application includes a first arm and a second arm. The first arm includes a first connecting joint. The second arm includes an arm body and a second connecting joint disposed on the arm body, with a mounting cavity inside the second connecting joint. The rope-driven manipulator also includes a transmission component, a first driving rope, a second driving rope, and a first driving component. The first driving component is disposed within the mounting cavity, thus using the mounting cavity as the outer shell of the first driving component, simplifying the structure and reducing weight; and by integrating the first driving component with the mounting cavity, the overall size of the manipulator is reduced. The first connecting joint pivotally connects to the second connecting joint, and the two ends of the first driving rope are respectively connected to the transmission component and the first connecting joint. Thus, the connection point between the first and second connecting joints serves as one of the pulleys of the first driving rope, further simplifying the overall structure volume. Furthermore, as described above, the connection point between the first and second connecting joints is also the location where the first driving component is mounted, resulting in a compact structure and small overall size. The first driving component includes an output shaft, and the two ends of the second driving rope are respectively connected to the output shaft and the transmission component, thereby achieving dual-pulley drive and simplifying the drive structure. Furthermore, the first driving component drives the transmission component to rotate via the second driving rope, and the first driving rope drives the first connecting joint to rotate around the second connecting joint. This achieves a simplified overall structure volume, improved accuracy, and reduced cost while maintaining the dual-rope drive structure. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort, wherein:

[0022] Figure 1This is a schematic diagram of the structure of a rope-driven manipulator provided in this application, wherein the rope-driven manipulator includes a first rope pulley and a second rope pulley;

[0023] Figure 2 is Figure 1 A schematic diagram of the rope-driven manipulator from another angle;

[0024] Figure 3 is Figure 1 A cross-sectional view of the cable-driven manipulator described in the image along the CC direction;

[0025] Figure 4 is Figure 1 A schematic diagram of the structure of the first rope pulley;

[0026] Figure 5 is a structural schematic diagram of another embodiment of the first and second rope pulleys proposed in this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0028] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0029] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0030] Rope-driven technology has gradually gained attention in the industry in recent years, and its application in the field of robotics is becoming increasingly widespread. The main advantages of rope-driven technology are that the drive motor can be placed outside the arm, and the rope drive is relatively lightweight. By transmitting driving force to the driven joints through the rope transmission system, the weight of the arm itself can be effectively reduced, while still achieving high flexibility and precision. In recent years, rope-driven robots have emerged. The rope drive transmits power from the motor to the driven rope pulleys located at the joints. Through multi-stage cross-transmission, the rotational motion of the motor is converted into the reciprocating swing of the robotic arm. However, the high load of the transmission rope drive structure leads to a short lifespan of the drive rope, making it difficult to guarantee the overall precision of the rope-driven robot. Furthermore, the long drive pulleys result in a large overall volume, a relatively complex structure, and unsuitability for long-distance transmission.

[0031] One aspect of this application provides a cable-driven manipulator. Please refer to the references. Figure 1 And Figure 3, Figure 1 Figure 3 is a schematic diagram of the structure of a rope-driven manipulator provided in this application; Figure 4 is... Figure 1The image shows a cross-sectional view of the cable-driven manipulator along the CC direction. To ensure accuracy while minimizing its size under dual cable drive conditions, the cable-driven manipulator includes a first arm 1 and a second arm 2. The first arm 1 includes a first connecting joint 11. The second arm 2 includes an arm body 21 and a second connecting joint 22 disposed on the arm body 21, with a mounting cavity 221 within the second connecting joint 22. The cable-driven manipulator also includes a transmission component 3, a first drive rope 4, a second drive rope 5, and a first drive component 6. The first drive component 6 is disposed within the mounting cavity 221, thus using the mounting cavity 221 as the outer shell of the first drive component 6, simplifying the overall structure of the first drive component 6 and significantly reducing weight due to the absence of a relatively thick outer shell; furthermore, the integrated design of the first drive component 6 and the mounting cavity 221 reduces the overall size of the manipulator. The first connecting joint 11 is pivotally connected to the second connecting joint 22, and the two ends of the first drive rope 4 are respectively connected to the transmission component 3 and the first connecting joint 11. Therefore, the connection point of the first connecting joint 11 and the second connecting joint 22 serves as one of the pulleys of the first drive rope 4. Dual-pulley drive can be achieved using only one independent pulley, further simplifying the dual-pulley structure and reducing the overall size of the structure. This avoids increasing the mass of the drive structure due to two independent pulleys, which could affect the reliability of the entire drive robot. Furthermore, as described above, the connection point of the first connecting joint 11 and the second connecting joint 22 is also the location where the first drive component 6 is installed, resulting in a compact structure and small overall size. The first drive component 6 includes an output shaft 61, with both ends of the second drive rope 5 connected to the output shaft 61 and the transmission component 3, respectively, thus achieving dual-pulley drive and simplifying the drive structure. Moreover, the first drive component 6 drives the transmission component 3 to rotate via the second drive rope 5, and drives the first connecting joint 11 to rotate around the second connecting joint 22 via the first drive rope 4. This achieves a simplified overall structure size, improved accuracy, and reduced cost while maintaining the dual-pulley drive structure.

[0032] During the entire rope-driven motion, the first driving member 6 generates driving force and transmits it to the second driving rope 5 through the output shaft 61. One end of the second driving rope 5 is connected to the transmission member 3, thereby driving the transmission member 3 to perform transmission. The first driving rope 4 is wrapped around the transmission member 3 and rotates with the rotation of the transmission member 3, thereby driving the first connecting joint 11 to rotate around the second connecting joint 22, thus realizing the rotation of the driving robot.

[0033] To further reduce the overall size of the drive structure, please refer to Figures 2 and 3. Figure 2 is... Figure 1 Figure 3 is a schematic diagram of the rope-driven manipulator from another angle; Figure 1The image shows a cross-sectional view of the cable-driven manipulator along the CC direction. In some embodiments, the arm body 21 further includes a connecting end 210 opposite to the second connecting joint 22, wherein the distance from the center point of the arm body 21 to the connecting end 210 and the second connecting joint 22 is equal. A transmission member 3 is movably disposed on the arm body 21, and is positioned on the second arm 2 close to the second connecting joint 22, making it as close as possible to the first driving member 6. The transmission member 3 is located between the second connecting joint 22 and the center point, closer to the first driving member 6, reducing the distance between the first driving rope 4 and the first driving member 6 and the transmission member 3. This avoids torque loss during transmission due to excessive transmission distance, preventing insufficient power in the transmission member 3 or requiring the first driving member 6 to consume more energy to achieve the same driving effect, thus affecting the accuracy and reliability of the entire driven manipulator. By placing the transmission member 3 at the rear, the distance between the transmission member 3 and the first driving member 6 is avoided from being too large, reducing the rotational inertia of the second arm 2 and the entire machine. Therefore, the dynamic performance of the entire machine is improved while reducing the overall height and size.

[0034] Specifically, please refer to Figures 2 and 4. Figure 4 is... Figure 1 A schematic diagram of the structure of the first pulley is shown. The transmission component 3 includes a first pulley 31, which includes a hollow wheel 310 and an inner shaft 311 disposed within the hollow wheel 310. The hollow wheel 310 has a through hole 312. By setting the first pulley 31 as a hollow wheel 310, the weight of the entire first pulley 31 is reduced, making it easier for it to be driven by the first drive rope 4 to rotate around the inner shaft 311, thus reducing friction and abrasion between the pulleys. One end of the first drive rope 4 is fixed to the inner shaft 311, and the other end of the first drive rope 4 passes through the through hole 312 and is fixed to the first connecting joint 11. This avoids the first drive rope 4 from contacting other components and thus preventing unnecessary sliding friction, thereby improving the stability and reliability of the overall structure.

[0035] Furthermore, the other end of the first drive rope 4 can be axially fixed to the first connecting joint 11 by spiral tensioning, ensuring that when it rotates, the centrifugal force generated by the rotation will not cause the first drive rope 4 to detach from the fixed point on the first rope wheel 31, thus preventing the first drive rope 4 from being reconnected to the first rope wheel 31 and causing the drive robot to malfunction.

[0036] It is understandable that multiple screw holes can be provided on the outside of the first connecting joint 11, and multiple screw structures can be used to fix the first drive rope 4 in the radial direction to the first connecting joint 11 and the transmission component 3. Radial fixing can also achieve the same effect as the above-mentioned fixing method.

[0037] Furthermore, in some embodiments, one or more annular grooves 30 are provided on the outer side of the first pulley 31, and the first drive rope 4 is wound around the annular groove 30. This prevents the first pulley 31 from disengaging from the first drive rope 4 when the first drive rope 4 drives the first pulley 31 to rotate, thus preventing malfunction of the drive robot. When multiple annular grooves 30 are provided, the winding of the first drive rope 4 is further guaranteed. When the first drive rope 4 disengages from one annular groove 30 due to tension or rotational force, it can enter the next annular groove 30, so that the first drive rope 4 can still be wound around the first pulley 31, thereby ensuring the normal operation of the entire drive robot and improving the reliability of the drive robot.

[0038] Understandably, in some other embodiments, a receiving groove is also provided on the outer wall surface of the first connecting joint 11. The first driving rope 4 is wound around the first connecting joint 11 and received in the receiving groove, thereby preventing the first driving rope 4 from moving during transmission and detaching from the first connecting joint 11 due to issues such as rotational speed and centrifugal force. This would prevent the first connecting joint 11 from being driven, causing the first connecting joint 11 and the second connecting joint 22 to be unable to move synchronously, thus causing the driving robot to malfunction.

[0039] Please refer to the reference. Figure 1 As shown in Figure 3, in some embodiments, the transmission component 3 further includes a second rope wheel 32 coaxially fixed to the first rope wheel 31. The second rope wheel 32 and the first rope wheel 31 rotate synchronously under the drive of the first drive rope 4. The first drive component 6 provides driving force and outputs the driving force through the output shaft 61. Since the second drive rope 5 connects the first rope wheel 31 and the output shaft 61, the driving force is transmitted to the first rope wheel 31 through the second drive rope 5, and then driven by the first drive rope 4, the second rope wheel 32 moves synchronously, thereby realizing the mutual rotation of the first connecting joint 11 and the second connecting joint 22 of the entire driven manipulator. Because the dual rope wheel drive has a larger reduction ratio, under the same load conditions, compared with the single rope wheel drive or other rigid drive structures, a smaller first drive component 6 can be selected, making the motor drive simpler and reducing the overall structural size of the driven manipulator.

[0040] To ensure synchronous rotation of the second pulley 32 and the first pulley 31, in some embodiments, the transmission component 3 further includes a connecting shaft 33, which is located on the side of the hollow pulley 310 opposite to the inner shaft 311. The connecting shaft 33 connects the first pulley 31 and the second pulley 32. The connecting shaft 33 is coaxial with the inner shaft 311, ensuring that the first pulley 31 and the second pulley 32 are coaxial while also being coaxial with the inner shaft 311. Friction between the first pulley 31 and the second pulley 32 and the inner shaft 311 exists only at the contact points. The friction between the first drive rope 4 and the first pulley 31 and the second pulley 32 is further reduced due to the synchronous rotation of the first pulley 31 and the second pulley 32, thereby further reducing friction between the internal drive structures of the entire drive robot and enhancing the accuracy of the overall structure.

[0041] More specifically, the connecting shaft 33 is rotatably mounted on the arm body 21. When the connecting shaft 33 rotates, it will not disengage from the second arm 2, thereby ensuring the stability between the first rope wheel 31 and the second rope wheel 32 and the second arm 2 during transmission, and improving the stability and reliability of the entire drive robot.

[0042] To better ensure the synchronous rotation of the first sheave 31 and the second sheave 32 driven by the connecting shaft 33, the second sheave 32 is coaxially arranged with the first sheave 31 and integrally formed. That is, one end of the connecting shaft 33 is connected to the first sheave 31, and the other end is connected to the second sheave 32. The first sheave 31 is a hollow sheave 310, and its internal shaft 311 is coaxially arranged with the connecting shaft 33, further ensuring the synchronous rotation of the first sheave 31 and the second sheave 32.

[0043] In some embodiments, the connecting shaft 33 is a hollow shaft. It is understood that a hollow connecting shaft 33 is lighter and has less rotational inertia, making it easier to rotate with the first drive rope 4, thus reducing wear on the first drive member 6. The first drive member 6 provides driving force and outputs it through the output shaft 61. Since the second drive rope 5 connects the first pulley 31 and the output shaft 61, the driving force is transmitted to the first pulley 31 via the second drive rope 5, and then driven by the first drive rope 4. The first pulley 31 and the second pulley 32 are fitted onto the connecting shaft 33 and move synchronously, thereby enabling the first connecting joint 11 and the second connecting joint 22 of the entire driving manipulator to rotate relative to each other.

[0044] To further reduce the overall size of the drive structure, in some embodiments, the first drive member 6 also includes a stator 62 and a rotor 63. The stator 62 is fixed to the inner wall of the mounting cavity 221 and surrounds the rotor 63. That is, the first drive member 6 uses the mounting cavity 221 as its housing, and the stator 62 is integrated with the mounting cavity 221. When the first drive member 6 is driving, it no longer rotates, but moves by the rotor 63 and the motor shaft rotating together. Therefore, there is no need to set up an additional housing separately. The weight of its housing is reduced when the first drive member 6 is rotating during operation. While reducing the size, the rotational inertia of the first drive member 6 is also reduced, making the first drive member 6 more energy-efficient during driving and more in line with the needs of modern mechanical design.

[0045] More specifically, the first drive component 6 employs an internal rotor torque motor. This torque motor no longer has a separate motor housing; instead, the mounting cavity 221 serves as its motor housing, allowing the stator 62 and rotor 63 to be directly fixed within the mounting cavity 221. In this case, the housing of the first drive component 6 becomes the mounting cavity 221 on the second arm 2. By integrating the first drive component 6 and the second arm 2 into one unit, the mass of the first drive component 6 is reduced, resulting in a smaller rotational inertia. This is more conducive to ensuring that the dual-rope drive can smoothly drive the entire manipulator, improving its stability and reliability.

[0046] To better accommodate the first driving component 6 within the second connecting joint 22, in some embodiments, the second connecting joint 22 further includes a journal 222. A mounting cavity 221 extends through the journal 222, communicating with it. When the first driving component 6 is housed in the mounting cavity 221, the output shaft 61 is exposed on the journal. This facilitates the output shaft 61 in outputting torque and provides some protection, further preventing the rotational transmission of the output shaft 61 from being affected by external forces during driving operations, thus impacting the overall operation of the robotic arm. A bearing 2220 is also provided on the journal 222, with the output shaft 61 housed within it. The bearing 2220 protects the output shaft 61. During rotation, the bearing 2220 supports the output shaft 61, reducing sliding friction between the output shaft 61 and the housing and other structures, increasing the service life of the first driving component 6, and better meeting the design requirements of modern industrial applications.

[0047] In some embodiments, the driving manipulator further includes a drive motor (not shown), and the drive motor includes a drive shaft (not shown). The drive shaft is connected to the connection end 210, employing direct drive, which eliminates various flexible connections, minimizing rotational inertia and friction in the entire system, and improving the overall accuracy and reliability of the driving manipulator. Furthermore, since direct drive eliminates the need for belts or gears, the time from starting rotation to reaching a suitable speed is relatively shorter, resulting in faster acceleration and reduced wear on the drive motor during operation.

[0048] To further reduce the size of the drive structure and the overall structure, please continue to refer to... Figure 1 As shown in Figure 3, in some embodiments, the first arm 1 further includes an arm body 12, with a first connecting joint 11 connected to the arm body 12. The arm body 12 is also provided with an electrically connected second drive member 121 and a driver 122. The driver 122 drives the second drive member 121. The driver 122 is disposed on the first connecting joint 11, and the second drive member 121 is disposed at the connection between the arm body 12 and the first connecting joint 11. The close proximity of the driver 122 and the second drive member 121 reduces the rotational torque and moment of inertia of the second drive member 121, improving the dynamic performance of the first arm 1 and the entire manipulator. This also facilitates providing driving force to the second drive member 121, enabling it to rotate and thus drive the first arm 1 to move.

[0049] To better mount the actuator 122 and the second drive unit 121 onto the first arm 1, and to reduce the overall height of the driven robot, please refer to... Figure 1 In some embodiments, the first connecting joint 11 is a hollow sleeve, which is pivotally fitted onto the outer wall of the mounting cavity 221. The arm body 12 is provided with a mounting groove 123 extending to the outer wall of the connecting hollow sleeve. The second driving member 121 is housed within the mounting groove 123, and the driver 122 is located on the end face of the hollow sleeve. Since the arm body 12 serves a connecting function, its mass would be excessive if it were a solid object, significantly impacting the rotational inertia of the entire manipulator. The mounting groove 123 not only provides a place for the second driving member 121 but also reduces the mass of the first arm 1, decreasing its rotational inertia and thus accelerating its rotational start-up speed, thereby improving its dynamic performance.

[0050] Furthermore, since the second driving component 121 is relatively large, it often occupies a significant amount of space on the driving manipulator. Therefore, partially housing it within the mounting slot 123 reduces the space occupied by the second driving component 121, thereby reducing the overall size of the driving manipulator. Similarly, partially housing the actuator 122 within the hollow sleeve also reduces the size of the driving manipulator to some extent, decreases its rotational inertia, and thus enhances its dynamic performance and increases its reliability.

[0051] Furthermore, since the first arm 1 is provided with a mounting groove 123, the material of the first arm 1 or the entire drive robot should be selected as a material with high rigidity and toughness as much as possible. This is to avoid the structural performance of the first arm 1 being affected by the mounting groove 123, which reduces its width. The mounting groove 123 is located in a weaker area in the thickness direction of the first arm 1, and a second drive component 121 and a driver 122 are arranged inside the mounting groove 123. When the driver 122 drives the second drive component 121, movement inevitably occurs, affecting the stability and robustness of the first arm 1. This further avoids the first arm 1 becoming too narrow and unstable, leading to breakage during cargo transportation and affecting the working state of the drive robot.

[0052] In some cases, the structure of the second arm 2 does not have enough space to accommodate the transmission component 3 and the first drive component 6. Please refer to Figure 5, which is a structural schematic diagram of another embodiment of the first and second rope pulleys proposed in this application. In other embodiments, the second connecting joint 22 includes a first part 2201 and a second part 2202 that are fixed to each other. The first part 2201 protrudes from the arm body 21. The first part 2201 and the second part 2202 are coaxially arranged. In this case, the second drive rope 5 is connected to the second rope pulley 32, and the first drive rope 4 is connected to the first rope pulley 31. In this case, the first rope pulley 31 is closer to the first drive component 6. When the first drive component 6 provides power to the first rope pulley 31, its transmission distance and torque are smaller, and the kinetic energy loss is lower, which is more conducive to increasing the reliability and stability of the driving robot. Furthermore, the first driving component 6 also includes a stator 62 and a rotor 63. The stator 62 is fixed to the inner arm of the mounting cavity 221 at the first or second part and is fixedly connected to the mounting cavity 221. The stator 62 surrounds the rotor 63. At this time, the stator 62 and the mounting cavity 221 are an integral structure, serving as the housing of the first driving component 6. The rotor 63 rotates together with the motor shaft, transmitting power to the output shaft 61. In other words, the first driving component 6 uses the mounting cavity 221 as its housing, instead of setting up a separate additional housing. The first driving component 6 reduces the weight of its housing, and while reducing its volume, it also reduces the rotational inertia of the first driving component 6, making the first driving component 6 more energy-efficient during operation.

[0053] Specifically, in some embodiments, the transmission component 3 includes a first pulley 31, a second pulley 32, and a connecting shaft 33, with the connecting shaft 33 connecting the first pulley 31 and the second pulley 32. The connecting shaft 33 is rotatably mounted on the arm body 21 and rotates along with the first pulley 31 and the second pulley 32. The two ends of the first drive rope 4 are respectively connected to the first pulley 31 and the first connecting joint 11. The two ends of the second drive rope 5 are respectively connected to the second pulley 32 and the output shaft 61. The first drive component 6 provides driving force, which is transmitted to the second drive rope 5 through the output shaft 61. The second drive rope 5 drives the second pulley 32 to rotate, and simultaneously drives the first pulley 31 to move through the connecting shaft 33, thereby driving the first drive rope 4 and thus realizing the movement of the robotic arm.

[0054] Understandably, designing the first pulley 31 as a hollow pulley 310 with an inner shaft 311 inside reduces the overall weight of the first pulley 31, making it easier for the first drive rope 4 to rotate around the inner shaft 311. Furthermore, the other end of the first drive rope 4 passes between the first pulley 31 and the second pulley 32, only generating friction at one point between the two pulleys, thus reducing friction points and scuffing. One end of the first drive rope 4 is fixed to the inner shaft 311, and the other end passes through the through hole 312 and is fixed to the first connecting joint 11. This prevents the first drive rope 4 from contacting other components and generating unnecessary sliding friction, improving the overall stability and reliability of the structure.

[0055] Another aspect of this application provides a robot that includes the rope-driven manipulator of any of the above-mentioned embodiments, and therefore necessarily possesses all the beneficial effects of the rope-driven manipulator, which will not be elaborated here.

[0056] In the description of this application, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0057] The above are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A rope-driven robotic arm, comprising a first arm and a second arm, characterized in that, The first arm includes a first connecting joint; The second arm includes an arm body and a second connecting joint disposed on the arm body. The second connecting joint has a mounting cavity, and the first connecting joint is pivotally connected to the second connecting joint. The rope-driven manipulator also includes a transmission component, a first drive rope, a second drive rope, and a first drive component; The first driving member is disposed within the mounting cavity, and the first driving member includes an output shaft; wherein, the two ends of the first driving rope are respectively connected to the transmission member and the first connecting joint; the two ends of the second driving rope are respectively connected to the output shaft and the transmission member; The first driving member drives the transmission member to rotate via the second driving rope, and also drives the first connecting joint to rotate around the second connecting joint via the first driving rope. The transmission component is located in the second arm and near the second connecting joint.

2. The rope-driven manipulator according to claim 1, characterized in that, The transmission component includes a first rope wheel, which includes a hollow wheel and an inner shaft disposed inside the hollow wheel, and the hollow wheel is provided with a through hole; One end of the first drive rope is fixed to the inner shaft, and the other end of the first drive rope passes through the through hole and is fixed to the first connecting joint.

3. The rope-driven manipulator according to claim 2, characterized in that, The transmission component also includes a second rope wheel that is fixed coaxially with the first rope wheel; One end of the second drive rope is fixed to the output shaft, and the other end of the second drive rope is fixed to the second pulley.

4. The rope-driven manipulator according to claim 3, characterized in that, The transmission component also includes a connecting shaft, which is disposed on the side of the hollow wheel opposite to the inner shaft; The connecting shaft connects the first rope pulley and the second rope pulley; The connecting shaft is coaxial with the inner shaft.

5. The rope-driven manipulator according to claim 4, characterized in that, The connecting shaft is a hollow shaft.

6. The rope-driven manipulator according to claim 1, characterized in that, The first drive unit also includes a stator and a rotor, the stator being fixed to the inner wall of the mounting cavity and surrounding the rotor.

7. The rope-driven manipulator according to claim 1, characterized in that, The transmission component is movably disposed on the arm body; The arm body also includes a connecting end opposite to the second connecting joint, wherein the center point of the arm body is equidistant from the connecting end and the second connecting joint; The transmission component is located between the second connecting joint and the center point.

8. The rope-driven manipulator according to claim 7, characterized in that, It also includes a drive motor, which includes a drive shaft; The drive shaft is connected to the connecting end.

9. The rope-driven manipulator according to claim 1, characterized in that, The second connecting joint also includes a journal, and the mounting cavity extends through the journal; The journal is also provided with a bearing, and the output shaft is disposed within the bearing.

10. The rope-driven manipulator according to claim 9, characterized in that, The second connecting joint includes a first part and a second part that are fixed to each other; The first part is formed by the protrusion of the arm body; The first part and the second part are coaxially arranged, and the first drive member further includes a stator and a rotor. The stator is fixed to the inner arm of the mounting cavity at the first part or the second part, and the stator surrounds the rotor.

11. The cable-driven manipulator according to any one of claims 7-10, characterized in that, The transmission component includes a first rope pulley, a second rope pulley, and a connecting shaft, wherein the connecting shaft connects the first rope pulley and the second rope pulley. The connecting shaft is rotatably mounted on the arm body. The two ends of the first drive rope are respectively connected to the first pulley and the first connecting joint; The two ends of the second drive rope are respectively connected to the second pulley and the output shaft.

12. The cable-driven manipulator according to any one of claims 1-10, characterized in that, The first arm also includes an arm body, and the first connecting joint is connected to the arm body; The arm body is also provided with a second drive component and a driver that are electrically connected. The driver is disposed on the first connecting joint, and the second drive component is disposed at the connection between the arm body and the first connecting joint.

13. The rope-driven manipulator according to claim 12, characterized in that, The first connecting joint is a hollow sleeve, which is pivotally fitted onto the outer wall of the mounting cavity; The arm body is provided with a mounting groove, which extends to the outer wall connecting to the hollow sleeve; wherein... The second driving member is housed in the mounting groove, and the driver is disposed on the end face of the hollow sleeve.

14. A robot, characterized in that, The robot includes a rope-driven manipulator as described in any one of claims 1-13.

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