Tendon-driven joint actuation device

Abstract

The application discloses a tendon transmission joint driving device, which comprises a base, an intermediate block, a rotating end, the intermediate block can rotate around a first axis relative to the base, the rotating end can rotate around a second axis relative to the intermediate block, a first transmission tendon and a second transmission tendon are connected with the rotating end respectively, and can pull the rotating end in different directions respectively, the intermediate block comprises a rotating block, a third transmission tendon and a fourth transmission tendon are connected with the rotating block respectively, and can pull the rotating block in different directions respectively, the third transmission tendon can generate a first moment of force to the rotating block in a first direction, the fourth transmission tendon can generate a second moment of force to the rotating block in a second direction, and the first transmission tendon and the second transmission tendon can generate a moment of force to the rotating block in the second direction after being led out from the rotating end and passing through the intermediate block.

Description

Technical Field

[0001] This application belongs to the field of joint drive technology, and more specifically, relates to a tendon-driven joint drive device. Background Technology

[0002] Existing robots typically have multiple joints. For a robot to achieve more flexible and complex degrees of freedom, the joints at corresponding positions need to possess a certain degree of freedom to enable flexible actuation and control. At some joint locations, two or more degrees of freedom are required. How to achieve such joints is a technical problem that those skilled in the art must consider. Furthermore, a driven joint sometimes requires a large driving force in a specific direction for a particular degree of freedom, and a large driving force usually means a higher cost for the required actuator. Summary of the Invention

[0003] The purpose of this application is to provide a tendon-driven joint drive device to solve the technical problems of the prior art.

[0004] To achieve the above objectives, the technical solution adopted in this application is: to provide a tendon-driven joint driving device, comprising a base, an intermediate block, and a rotating end, wherein the intermediate block is connected to the base and is rotatable relative to the base about a first axis; the rotating end is connected to the intermediate block and is rotatable relative to the intermediate block about a second axis; characterized in that,

[0005] The first and second transmission tendons are respectively connected to the rotating end, and the first and second transmission tendons are configured to pull the rotating end in different directions respectively.

[0006] The intermediate block includes a rotating block, and a third transmission tendon and a fourth transmission tendon are respectively connected to the rotating block. The third transmission tendon and the fourth transmission tendon are configured to pull the rotating block in different directions respectively. The third transmission tendon can generate a first torque on the rotating block to rotate in a first direction about a first axis, and the fourth transmission tendon can generate a second torque on the rotating block to rotate in a second direction about the first axis.

[0007] After the first transmission tendon is led out from the rotating end, it passes around the intermediate block. The first transmission tendon can generate a third torque on the rotating block to rotate about the first axis in the second direction.

[0008] The second transmission tendon extends from the rotating end and passes around the intermediate block. The second transmission tendon can generate a fourth torque on the rotating block to rotate about the first axis in the second direction.

[0009] In one embodiment of this application, the driving device includes a first driver, a second driver, and a third driver. The first transmission tendon is connected to the first driver, the second transmission tendon is connected to the second driver, and the third transmission tendon and the fourth transmission tendon are respectively connected to the third driver.

[0010] In one embodiment of this application, the driving device includes a first driver, a second driver, a third driver, and a fourth driver. The first transmission tendon is connected to the first driver, the second transmission tendon is connected to the second driver, the third transmission tendon is connected to the third driver, and the fourth transmission tendon is connected to the fourth driver.

[0011] In one embodiment of this application, the intermediate block further includes a third tendon drive portion and a fourth tendon drive portion;

[0012] After the first transmission tendon exits from the rotating end, it also passes around the third tendon transmission part, and after the second transmission tendon exits from the rotating end, it also passes around the fourth tendon transmission part.

[0013] In one embodiment of this application, the rotating end has a first tendon transmission part, and the first transmission tendon and the second transmission tendon respectively partially pass around the first tendon transmission part in different directions;

[0014] The intermediate block also includes a second tendon drive section, and the third and fourth drive tendons pass around the second tendon drive section in different directions.

[0015] In one embodiment of this application, the first tendon transmission part includes a first fixed pulley or a first fixed groove; the second tendon transmission part includes a second fixed pulley or a second fixed groove.

[0016] The third tendon transmission part includes a third pulley, and the fourth tendon transmission part includes a third pulley.

[0017] In one embodiment of this application, a first tendon steering element is provided between the first tendon driving part and the third tendon driving part, and the first driving tendon, after exiting the first tendon driving part, passes through the first tendon steering element and then winds around the third tendon driving part; and / or, a first tendon steering element is provided between the first tendon driving part and the fourth tendon driving part, and the second driving tendon, after exiting the first tendon driving part, passes through the first tendon steering element and then winds around the fourth tendon driving part.

[0018] In one embodiment of this application, the drive device further includes a second tendon steering element;

[0019] The first drive tendon exits from the first tendon drive section, passes around the third tendon drive section, and then turns via the second tendon steering element; and / or, the second drive tendon exits from the first tendon drive section, passes around the fourth tendon drive section, and then turns via the second tendon steering element.

[0020] In one embodiment of this application, the rotating end is provided with a first tendon fixing part or a first tendon fixing element for fixing the first and second transmission tendons; the rotating block is provided with a second tendon fixing part or a second tendon fixing element for fixing the third and fourth transmission tendons.

[0021] In one embodiment of this application, the first axis and the second axis are perpendicular and not orthogonal; or, the first axis and the second axis are orthogonal.

[0022] In one embodiment of this application, a driving method for rotating the rotating end relative to the rotating block about the second axis includes:

[0023] The first, second, and third transmission tendons are all in a tensioned state; the first and second transmission tendons form an antagonistic pair and drive the rotating end to rotate relative to the rotating block about a second axis; the third transmission tendon is used to balance the torque generated by the first and second transmission tendons on the rotating block in a second direction, keeping the rotating block stationary.

[0024] In one embodiment of this application, a driving method for rotating the rotating block relative to the base about the first axis includes:

[0025] The first, second, and third transmission tendons are all in a tensioned state; the first and second transmission tendons are pulled at the same speed, and the first and second transmission tendons move in the same direction at the same speed; the first, second, and third transmission tendons form an antagonistic pair, and drive the rotating block to rotate relative to the base around the first axis.

[0026] In one embodiment of this application, a driving method for rotating the rotating block relative to the base about the first axis in a second direction includes:

[0027] The first transmission tendon, the second transmission tendon, and the fourth transmission tendon are all in a tensioned state, while the third transmission tendon is in a relaxed state.

[0028] The first and second transmission tendons are pulled at the same speed, and the fourth transmission tendon is also pulled, so that the first, second, and fourth transmission tendons simultaneously drive the rotating block to rotate relative to the base in the second direction.

[0029] In one embodiment of this application, the control method includes: when driving the rotating block to rotate around a first axis in a second direction, making the normal operating mode of the tendon-driven joint drive device an antagonistic mode; when force is required, changing the third transmission tendon from a tensioned state to a relaxed state, changing the fourth transmission tendon from a relaxed state to a tensioned state, and changing the operating mode of the tendon-driven joint drive device from an antagonistic mode to a force-increasing mode.

[0030] The beneficial effects of this application are as follows:

[0031] The tendon-driven joint drive device provided in the application embodiment is advantageous because it allows the rotating block to rotate relative to the base about a first axis by forming an antagonistic pair of a first transmission tendon, a second transmission tendon, and a third transmission tendon. Since the first and second transmission tendons can share the force required for the rotating block to rotate about the first axis a in a second direction, it is advantageous that the first and second drivers used to drive the rotating block to rotate about the first axis in the second direction do not need to be expensive high-power drivers, thus reducing driver costs while meeting product performance requirements. This application provides a tendon-driven joint drive device that can be used in joints with two or more degrees of freedom. Attached Figure Description

[0032] 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.

[0033] Figure 1 This is a schematic diagram of the structure of a tendon-driven joint drive device provided in Embodiment 1 of this application;

[0034] Figure 2 A schematic diagram of the tendon-driven joint drive device provided in Embodiment 1 of this application from another perspective (the base is hidden);

[0035] Figure 3 A simplified force diagram of a tendon-driven joint drive device provided in Embodiment 1 of this application;

[0036] Figure 4 This is a schematic diagram of the structure of a tendon-driven joint drive device provided in Embodiment 2 of this application;

[0037] Figure 5 This is a schematic diagram of a tendon-driven joint drive device provided in Embodiment 2 of this application (the base is hidden).

[0038] The following are the labeling elements in the figure:

[0039] Base 10, intermediate block 20, rotating end 30, first axis a, second axis b, rotating block 21, second tendon transmission part 22, third tendon transmission part 23, fourth tendon transmission part 24, first tendon transmission part 31, first transmission tendon 41, second transmission tendon 42, third transmission tendon 43, fourth transmission tendon 44, second tendon steering element 50, first tendon steering element 60. Detailed Implementation

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] Example 1

[0045] Please see Figure 1 , Figure 2The tendon-driven joint driving device and its driving method provided in this application will now be described. The tendon-driven joint driving device provided in this application includes a base 10, an intermediate block 20, and a rotating end 30. The intermediate block 20 is connected to the base 10, and the rotating end 30 is connected to the intermediate block 20. The base 10 is relatively fixedly disposed, the intermediate block 20 can rotate relative to the base 10 about a first axis a, and the rotating end 30 can rotate relative to the intermediate block 20 about a second axis b.

[0046] In a more specific embodiment, the intermediate block 20 is rotatably mounted on the base 10 via a first connecting shaft; however, it is understood that specific embodiments in which the intermediate block 20 can rotate relative to the base 10 about a first axis a are not limited thereto. The rotating end 30 is rotatably mounted on the intermediate block 20 via a second connecting shaft; however, it is understood that specific embodiments in which the rotating end 30 can rotate relative to the intermediate block 20 about a second axis b are not limited thereto.

[0047] Please see Figure 1 , Figure 2 , Figure 3 The first transmission tendon 41 and the second transmission tendon 42 are respectively connected to the rotating end 30. The first transmission tendon 41 and the second transmission tendon 42 can pull the rotating end 30 in different directions to control the rotating end 30 to rotate relative to the intermediate block 20 around the second axis b. Specifically, the first transmission tendon 41 can pull the rotating end 30 to have a tendency to move in one direction along the controlled rotational degree of freedom, and the second transmission tendon 42 can pull the rotating end 30 to have a tendency to move in the opposite direction along the controlled rotational degree of freedom.

[0048] The intermediate block 20 includes a rotating block 21, which is rotatably mounted on the base 10 via a first connecting shaft. (See also...) Figure 1 , Figure 2 , Figure 3 The third transmission tendon 43 and the fourth transmission tendon 44 are respectively connected to the rotating block 21. The third transmission tendon 43 and the fourth transmission tendon 44 can pull the rotating block 21 in different directions, causing the rotating block 21 to rotate relative to the base 10 around the first axis a. Specifically, when the third transmission tendon 43 is forced, it can pull the rotating block 21, generating a first torque on the rotating block 21 to rotate in a first direction around the first axis a, giving the rotating block 21 a tendency to move in one direction along the controlled rotational degree of freedom. Similarly, when the fourth transmission tendon 44 is forced, it can pull the rotating block 21, generating a first torque on the rotating block 21 to rotate in a second direction around the first axis a. Figure 2The second torque (in the direction of the arrow shown in the diagram) causes the rotating block 21 to have a tendency to move in the opposite direction to the controlled rotational degree of freedom.

[0049] In addition, please see Figure 1 , Figure 2 , Figure 3 The first transmission tendon 41 extends from the rotating end 30 and then wraps around the intermediate block 20. When wrapping around the intermediate block 20, the first transmission tendon 41 has a certain distance between itself and the first axis a, which serves as a lever arm. When force is applied to the first transmission tendon 41, it not only pulls the rotating end 30 to have a tendency to move in one direction along the controlled rotational degree of freedom, but also generates a third torque on the rotating block 21 to rotate in a second direction around the first axis a.

[0050] Please see Figure 1 , Figure 2 , Figure 3 The second transmission tendon 42 extends from the rotating end 30 and wraps around the intermediate block 20. When wrapping around the intermediate block 20, the second transmission tendon 42 maintains a certain distance from the first axis a, acting as a lever arm. When force is applied to the second transmission tendon 42, it not only pulls the rotating end 30 to have a tendency to move in the opposite direction to the controlled rotational degree of freedom, but also generates a fourth torque on the rotating block 21, causing it to rotate about the first axis a in a second direction.

[0051] The first transmission tendon 41 and the second transmission tendon 42 of this application can not only pull the rotating end 30 in different directions to control the rotation of the rotating end 30 relative to the rotating block 21 around the second axis b, but also extend from the rotating end 30, pass around the intermediate block 20, and apply force to the rotating block 21, causing the rotating block 21 to generate a torque that rotates around the first axis a in the second direction. Since the first transmission tendon 41, the second transmission tendon 42, the third transmission tendon 43, and the fourth transmission tendon 44 can all apply force to the rotating block 21, the rotational freedom of the rotating block 21 relative to the base 10 around the first axis a can be further controlled by controlling the first transmission tendon 41, the second transmission tendon 42, the third transmission tendon 43, and the fourth transmission tendon 44.

[0052] The transmission tendon of this application includes the first transmission tendon 41, the second transmission tendon 42, the third transmission tendon 43, and the fourth transmission tendon 44. It can be made of a slender object that cannot be stretched or whose change after stretching is minimal when subjected to force, including but not limited to steel wire, Dyneema wire, or carbon fiber wire. During operation, whether pulling or releasing the first transmission tendon 41, the driving force F1 acting on the first transmission tendon 41 is as follows: Figure 1As shown. Similarly, whether the second transmission tendon 42, the third transmission tendon 43, or the fourth transmission tendon 44 is being pulled or released, the driving forces F2, F3, and F4 acting on the second transmission tendon 42, the third transmission tendon 43, or the fourth transmission tendon 44 respectively are as follows. Figure 1 As shown.

[0053] This application also provides a driving method for a tendon-driven joint drive device.

[0054] In one embodiment, when it is necessary to drive the rotating end 30 to rotate relative to the rotating block 21 about the second axis b, the driving method includes:

[0055] The first transmission tendon 41, the second transmission tendon 42, and the third transmission tendon 43 all participate in driving and are in a tensioned state; the first transmission tendon 41 and the second transmission tendon 42 form an antagonistic pair and drive the rotating end 30 to rotate relative to the rotating block 21 around the second axis b. The fourth transmission tendon 44 does not participate in driving and is in a relaxed state.

[0056] When the torque generated by the first transmission tendon 41 on the rotating end 30 about the second axis b is greater than the torque generated by the second transmission tendon 42 on the rotating end 30 about the second axis b, the rotating end 30 rotates about the second axis b in a third direction. When the torque generated by the first transmission tendon 41 on the rotating end 30 about the second axis b is less than the torque generated by the second transmission tendon 42 on the rotating end 30 about the second axis b, the rotating end 30 rotates about the second axis b in a fourth direction. The third direction is different from the fourth direction.

[0057] When the first transmission tendon 41 and the second transmission tendon 42 form an antagonistic pair to drive the rotating end 30 to rotate relative to the rotating block 21, the third transmission tendon 43 can balance the torque generated by the first transmission tendon 41 and the second transmission tendon 42 on the rotating block 21 in the second direction, so as to keep the rotating block stationary.

[0058] In one embodiment, when it is necessary to drive the rotating block 21 to rotate relative to the base 10 about a first axis a, the antagonistic mode driving method includes:

[0059] The first transmission tendon 41, the second transmission tendon 42, and the third transmission tendon 43 all participate in the driving and are in a tensioned state; the fourth transmission tendon 44 does not participate in the driving and is in a relaxed state. The first transmission tendon 41 and the second transmission tendon 42 are pulled at a constant speed, causing the first transmission tendon 41 and the second transmission tendon 42 to form a coordinated movement, maintaining consistent tension and constant speed in the same direction (constant speed refers to linear velocity). Both the first transmission tendon 41 and the second transmission tendon 42 can generate a torque on the rotating block 21 to rotate about the first axis a in a second direction. The third transmission tendon 43 can generate a torque on the rotating block 21 to rotate about the first axis a in a first direction. The first transmission tendon 41, the second transmission tendon 42, and the third transmission tendon 43 form an antagonistic pair, which can drive the rotating block 21 to rotate relative to the base 10 about the first axis a.

[0060] When the sum of the torques generated by the first transmission tendon 41 and the second transmission tendon 42 on the rotating block 21 about the first axis a is greater than the torque generated by the third transmission tendon 43 on the rotating block 21 about the first axis a, the rotating block 21 rotates about the first axis a in a second direction. When the sum of the torques generated by the first transmission tendon 41 and the second transmission tendon 42 on the rotating block 21 about the first axis a is less than the torque generated by the third transmission tendon 43 on the rotating block 21 about the first axis a, the rotating block 21 rotates about the first axis a in a first direction. Furthermore, since the first transmission tendon 41 and the second transmission tendon 42 are pulled at the same speed, causing the first transmission tendon 41 and the second transmission tendon 42 to move at the same speed and in the same direction, the rotating end 30 does not move relative to the rotating block 21.

[0061] In practical applications, while driving the rotating end 30 to rotate relative to the intermediate block 20 around the second axis b, it also drives the intermediate block 20 to rotate relative to the base 10 around the first axis a. This composite motion is actually a linear superposition of the two motions.

[0062] In one embodiment of this application, the driving device includes three drivers, specifically a first driver, a second driver, and a third driver. The first transmission tendon 41 is connected to the first driver, the second transmission tendon 42 is connected to the second driver, and the third transmission tendon 43 and the fourth transmission tendon 44 are respectively connected to the third driver. The first driver and the second driver in this embodiment can be rotary drivers or linear drivers. The third driver in this embodiment can be a rotary driver. The output end of the third driver may include a winch, which may have two grooves. One end of the third transmission tendon 43 and the fourth transmission tendon 44 may be fixed to the winch and wound around the two grooves respectively. The third transmission tendon 43 and the fourth transmission tendon 44 may be located on opposite sides of the winch.

[0063] As an alternative embodiment, in another embodiment, the driving device includes four drivers, specifically including a first driver, a second driver, a third driver, and a fourth driver. The first transmission tendon is connected to the first driver, the second transmission tendon is connected to the second driver, the third transmission tendon is connected to the third driver, and the fourth transmission tendon is connected to the fourth driver. The first driver, second driver, third driver, and fourth driver in this embodiment can be rotary drivers or linear drivers.

[0064] If a rotary actuator is used, it can be an electric motor (such as a DC motor or brushless motor), a servo motor, or other power components, such as a pneumatic actuator (rotary cylinder) or a hydraulic actuator (rotary hydraulic motor). If a linear actuator is used, it can be an artificial muscle or a linear motor.

[0065] The tendon-driven joint drive device provided in the application embodiment can drive the rotating block 21 to rotate about a first axis a relative to the base 10 by forming an antagonistic pair of the first transmission tendon 41, the second transmission tendon 42 and the third transmission tendon 43. The first transmission tendon 41 and the second transmission tendon 42 share the force that drives the rotating block 21 to rotate about the first axis a in a second direction. Therefore, the first and second drivers used to drive the rotating block 21 to rotate about the first axis a in the second direction do not need to be expensive high-power drivers. The tendon-driven joint drive device provided in the application embodiment can employ either a three-driver scheme or a four-driver scheme. The three-driver scheme is advantageous in reducing the number of drivers and cost.

[0066] In the antagonistic mode where the first transmission tendon 41, the second transmission tendon 42, and the third transmission tendon 43 form an antagonistic pair and drive the rotating block 21 to rotate in the second direction, when the driving force provided by the first transmission tendon 41 and the second transmission tendon 42 is saturated and the antagonistic force provided by the third transmission tendon 43 is almost zero, the maximum driving force in the antagonistic mode can be provided for the rotating block 21 to rotate around the first axis a. At this time, the first transmission tendon 41 and the second transmission tendon 42 are in a tensioned state; the third transmission tendon 43 is in a state about to relax; and the fourth transmission tendon 44 is in a relaxed state. If the maximum driving force in this antagonistic mode still cannot meet the actual load requirements, the antagonistic working mode can be switched to the force-boosting working mode, and the force-boosting mode can be used for driving.

[0067] When it is necessary to drive the rotating block 21 to rotate around the first axis a in the second direction, the normal working mode of the tendon-driven joint drive device can be set to the antagonistic mode; when it is necessary to increase the force, the working mode of the tendon-driven joint drive device is controlled to switch from the antagonistic mode to the force-increasing mode.

[0068] When switching from the antagonistic mode to the force-enhancing mode, the third transmission tendon 43 can be changed from a tensioned state to a relaxed state, and the fourth transmission tendon 44 can be changed from a relaxed state to a tensioned state; this can be achieved in the following ways:

[0069] When the third transmission tendon 43 and the fourth transmission tendon 44 are respectively connected to the third driver, the fourth transmission tendon 44 is released when the third transmission tendon 43 is stretched, and vice versa. Therefore, the third transmission tendon 43 can be gradually relaxed and the fourth transmission tendon 44 can be gradually tightened by controlling the rotation of the third driver.

[0070] When the third transmission tendon is connected to the third driver and the fourth transmission tendon is connected to the fourth driver, the third transmission tendon 43 can be gradually relaxed and the fourth transmission tendon 44 can be gradually tightened by controlling the third driver and the fourth driver.

[0071] In one embodiment, when it is necessary to drive the rotating block 21 to rotate relative to the base 10 about the first axis a in a second direction, it can also be driven by the following force-enhancing driving method:

[0072] The first transmission tendon 41, the second transmission tendon 42, and the fourth transmission tendon 44 all participate in the driving and are in a tensioned state; the third transmission tendon 43 does not participate in the driving and is in a relaxed state. The first transmission tendon 41 and the second transmission tendon 42 are pulled at a constant speed, causing them to move in a coordinated manner, maintaining consistent tension and constant speed in the same direction (constant speed refers to linear velocity). Simultaneously, the fourth transmission tendon 44 is pulled, and the first transmission tendon 41, the second transmission tendon 42, and the fourth transmission tendon 44 all generate a torque on the rotating block 21, causing it to rotate about the first axis a in the second direction, thus driving the rotating block 21 to rotate about the first axis a in the second direction. In this force-increasing mode, the tension of the fourth transmission tendon 44 can be gradually increased until the actual load requirements are met.

[0073] In this embodiment, the first drive tendon 41 is driven by the first driver, the second drive tendon 42 is driven by the second driver, and the fourth drive tendon 44 is driven by the fourth driver. The first driver, the second driver, and the fourth driver simultaneously perform traction drive and share the load. Under this force-enhancing drive mode, the rotating block 21 can withstand the downward bending load of the maximum limit force when it rotates around the first axis a in the second direction.

[0074] This application provides a joint drive device with two degrees of freedom and tendon transmission, which can be used not only at the metacarpophalangeal joints of robots (such as the joint position where the fingers and palms connect), but also at other joint positions including two or more degrees of freedom, and can even be used in generalized kinematic pairs in equipment.

[0075] In one embodiment, when the tendon-driven joint drive device is applied to a metacarpophalangeal joint that simultaneously possesses swing and flexion-extension degrees of freedom, the degree of freedom of rotation of the rotating end 30 relative to the rotating block 21 about the second axis b can be considered as the swing degree of freedom of the metacarpophalangeal joint, and the degree of freedom of rotation of the rotating block 21 relative to the base 10 about the first axis a can be considered as the flexion-extension degrees of freedom of the metacarpophalangeal joint. The flexion-extension degrees of freedom of the metacarpophalangeal joint include downward flexion and extension.

[0076] Tendon-driven joint actuators typically need to meet load requirements for different degrees of freedom in different directions during practical applications. Taking the metacarpophalangeal joint as an example, the swinging degree of freedom of the metacarpophalangeal joint usually has a relatively small load; however, when a robotic arm needs to grasp, it needs to meet the requirement of a larger load, so the metacarpophalangeal joint needs to meet the requirement of a larger load when bending downwards; while when the robotic arm extends, it generally does not need a large load, so the metacarpophalangeal joint does not need a large load when extending.

[0077] In one embodiment, the metacarpophalangeal joint can be configured to flex downwards when the rotating block 21 rotates relative to the base 10 about the first axis a in a second direction, and extend when the rotating block 21 rotates relative to the base 10 about the first axis a in a first direction. When the metacarpophalangeal joint needs to flex downwards, the aforementioned antagonistic mode driving method that rotates the rotating block 21 relative to the base 10 about the first axis a can be used, so that the first transmission tendon 41, the second transmission tendon 42 and the third transmission tendon 43 form an antagonistic pair. The first transmission tendon 41 can be driven by the first driver, and the second transmission tendon 42 can be driven by the second driver. The first driver and the second driver perform traction drive and share the load simultaneously. Therefore, the first driver and the second driver do not need to be expensive high-power drivers. When the metacarpophalangeal joint swings laterally, the load of the swing degree of freedom is usually small; the first driver and the second driver with lower power can meet the requirements. If the maximum driving force in this antagonistic mode still cannot meet the actual load requirements, the antagonistic working mode can be switched to the force-enhancing working mode, and the aforementioned force-enhancing mode driving method can be used.

[0078] The tendon-driven joint drive device provided in this application preferably has the first axis a and the second axis b perpendicular to each other. Figure 1 , Figure 2 The illustrated drive mechanism has a first axis a and a second axis b that are perpendicular to each other and not orthogonal. However, in other embodiments, the first axis a and the second axis b can be orthogonal.

[0079] In one embodiment, the rotating end 30 is provided with a first tendon fixing part or a first tendon fixing element for fixing the first transmission tendon 41 and the second transmission tendon 42.

[0080] In one embodiment, the rotating block 21 is provided with a second tendon fixing part or a second tendon fixing element for fixing the third transmission tendon 43 and the fourth transmission tendon 44.

[0081] In one embodiment, the rotating end 30 has a first tendon transmission part 31. After one end of the first transmission tendon 41 and the second transmission tendon 42 are respectively fixedly connected to the rotating end 30, they can respectively partially pass around the first tendon transmission part 31 in different directions. The first transmission tendon 41 and the second transmission tendon 42 can slide smoothly on the first tendon transmission part 31, and the first tendon transmission part 31 can also hold the first transmission tendon 41 and the second transmission tendon 42 in a preset position to prevent them from shifting.

[0082] In one embodiment, the intermediate block 20 further includes a second tendon transmission part 22. After one end of the third transmission tendon 43 and the fourth transmission tendon 44 are respectively fixedly connected to the rotating block 21, they can pass through the second tendon transmission part 22 in different directions. The third transmission tendon 43 and the fourth transmission tendon 44 can slide smoothly on the second tendon transmission part 22, and the second tendon transmission part 22 can also hold the third transmission tendon 43 and the fourth transmission tendon 44 in a preset position to prevent them from shifting.

[0083] In one embodiment, the intermediate block 20 further includes a third tendon drive portion 23 and a fourth tendon drive portion 24. The first drive tendon 41, after exiting from one side of the first tendon drive portion 31 of the rotating end 30, also passes around the third tendon drive portion 23. The second drive tendon 42, after exiting from the other side of the first tendon drive portion 31 of the rotating end 30, also passes around the fourth tendon drive portion 24. The first drive tendon 41 can slide smoothly along the third tendon drive portion 23 when passing around it, and the third tendon drive portion 23 can also hold the first drive tendon 41 in a preset position. The second drive tendon 42 can slide smoothly along the fourth tendon drive portion 24 when passing around it, and the fourth tendon drive portion 24 can also hold the second drive tendon 42 in a preset position.

[0084] The first tendon drive unit 31, the second tendon drive unit 22, the third tendon drive unit 23, and the fourth tendon drive unit 24 can be circular, elliptical, or other shapes with smooth transition surfaces. Preferably, the first tendon drive unit 31, the second tendon drive unit 22, the third tendon drive unit 23, and the fourth tendon drive unit 24 are circular; they can have a complete circumference or only a partial circumference.

[0085] The first tendon drive unit 31, the second tendon drive unit 22, the third tendon drive unit 23, or the fourth tendon drive unit 24 may include guide grooves. The cross-sectional shape of the guide grooves may be U-shaped, rectangular, semi-circular, or other shapes.

[0086] The first tendon transmission part 31 may be a part of the rotating end 30; or the first tendon transmission part 31 may be a component disposed on the rotating end 30 and kept relatively fixed to the rotating end 30.

[0087] Similarly, the second tendon drive part 22 can be a part of the rotating block 21; or, the second tendon drive part 22 can be a component disposed on the rotating block 21 and kept relatively fixed to the rotating block 21.

[0088] The third tendon drive unit 23 and the fourth tendon drive unit 24 can each be a part of the rotating block 21, or they can each be a component disposed on the rotating block 21; or, the third tendon drive unit 23 and the fourth tendon drive unit 24 can be mounted on the rotating block 21 via the first connecting shaft.

[0089] In a preferred embodiment, the first tendon transmission part 31 includes a first pulley or a first groove. The second tendon transmission part 22 includes a second pulley or a second groove. The first pulley can be a first fixed pulley or a first fixed groove. The second pulley can be a second fixed pulley or a second fixed groove.

[0090] In a preferred embodiment, the third tendon transmission unit 23 may include a third pulley, and the fourth tendon transmission unit 24 may include a fourth pulley. The third pulley and the fourth pulley are respectively mounted on the rotating block 21 via a first connecting shaft; or, the third pulley and the fourth pulley are respectively rotatably disposed on the rotating block 21.

[0091] The third pulley can be a third free pulley. The fourth pulley can be a fourth free pulley. Bearings can be installed at the third and fourth free pulleys respectively. The third and fourth free pulleys can rotate freely relative to the rotating block 21.

[0092] like Figure 1 , Figure 2 The drive device shown includes a first fixed pulley in the first tendon transmission part 31 and a second fixed pulley in the second tendon transmission part 22. The second fixed pulley remains relatively fixed to the rotating block 21.

[0093] The first fixed pulley, the second fixed pulley, the third free pulley, and the fourth free pulley may all include guide grooves.

[0094] like Figure 1 , Figure 2 As shown, by reasonably setting the relative positions of the first tendon transmission part 31, the second tendon transmission part 22, the third tendon transmission part 23, and the fourth tendon transmission part 24, the first transmission tendon 41 can pass around the third tendon transmission part 23 on the rotating block 21 after emerging from one side of the first tendon transmission part 31 at the rotating end 30, and the second transmission tendon 42 can pass around the fourth tendon transmission part 24 on the rotating block 21 after emerging from the other side of the first tendon transmission part 31 at the rotating end 30.

[0095] In one embodiment, the drive device may include a second tendon steering element 50. The first drive tendon 41, exiting from the first tendon drive section 31, passing around the third tendon drive section 23, can be steered via the second tendon steering element 50; and / or, the second drive tendon 42, exiting from the first tendon drive section 31, passing around the fourth tendon drive section 24, can be steered via the second tendon steering element 50. Figure 1 , Figure 2 The illustrated tendon-driven joint drive device has two second tendon steering elements 50 respectively mounted on both sides of the rotating block 21 via a third connecting shaft, and rotating about the third connecting shaft. The second tendon steering element 50 is, for example, a steering pulley.

[0096] Understandably, the tendon-driven joint drive device of this application also includes a control device.

[0097] Example 2

[0098] like Figure 4 , Figure 5 The diagram shown is a structural schematic of a tendon-driven joint drive device provided in an embodiment of this application.

[0099] Figure 4 , Figure 5 The tendon-driven joint drive device shown has the first axis a and the second axis b orthogonal.

[0100] Compared with Embodiment 1, the tendon-driven joint drive device provided in this embodiment has adjustments in its structural layout.

[0101] For example, the tendon-driven joint drive device of this application embodiment eliminates the two second tendon steering elements 50 disposed on both sides of the rotating block 21 in Embodiment 1. However, in this embodiment, a first tendon steering element 60 is disposed between the first tendon drive section 31 (e.g., a first fixed pulley) and the third tendon drive section 23 (e.g., a third free pulley). After the first drive tendon 41 exits from the first tendon drive section 31, it passes through the first tendon steering element 60 and then around the third tendon drive section 23. And / or, a first tendon steering element 60 is also disposed between the first tendon drive section 31 (e.g., a first fixed pulley) and the fourth tendon drive section 24 (e.g., a fourth free pulley). After the second drive tendon 42 exits from the first tendon drive section 31, it passes through the first tendon steering element 60 and then around the fourth tendon drive section 24. The two first tendon steering elements 60 can be disposed on both sides of the rotating block 21 near the rotating end 30 via a fourth connecting shaft and rotate around the fourth connecting shaft. The first tendon steering element 60 is, for example, a steering pulley.

[0102] Furthermore, the shapes of components such as the rotating block 21 and the intermediate block 20 in the tendon-driven joint drive device of this embodiment have also been adjusted accordingly, and the rotating block 21 adopts a hollow structure. The tendon-driven joint drive device of this embodiment is particularly suitable for the elbow joint of a robot.

[0103] However, it is understandable that the structural layout of the tendon-driven joint drive device can be adjusted accordingly based on the needs of different application scenarios; the structural layout of the tendon-driven joint drive device is not limited to this.

[0104] The beneficial effects provided by this application are as follows:

[0105] The tendon-driven joint drive device provided in the application embodiment is advantageous because it allows the rotating block to rotate relative to the base about a first axis by forming an antagonistic pair of a first transmission tendon, a second transmission tendon, and a third transmission tendon. Since the first and second transmission tendons can share the force required for the rotating block to rotate about the first axis a in a second direction, it is advantageous that the first and second drivers used to drive the rotating block to rotate about the first axis in the second direction do not need to be expensive high-power drivers, thus reducing driver costs while meeting product performance requirements. This application provides a tendon-driven joint drive device that can be used in joints with two or more degrees of freedom.

[0106] 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 tendon-driven joint drive device, comprising a base, an intermediate block, and a rotating end, wherein the intermediate block is connected to the base and is rotatable relative to the base about a first axis; the rotating end is connected to the intermediate block and is rotatable relative to the intermediate block about a second axis; characterized in that, The first and second transmission tendons are respectively connected to the rotating end, and the first and second transmission tendons are configured to pull the rotating end in different directions respectively. The intermediate block includes a rotating block; a third transmission tendon and a fourth transmission tendon are respectively connected to the rotating block, and the third transmission tendon and the fourth transmission tendon are configured to pull the rotating block in different directions respectively; the third transmission tendon can generate a first torque on the rotating block to rotate in a first direction about a first axis, and the fourth transmission tendon can generate a second torque on the rotating block to rotate in a second direction about the first axis; The first transmission tendon extends from the rotating end and passes around the intermediate block. The first transmission tendon can generate a third torque on the rotating block to rotate about the first axis in the second direction. The second transmission tendon extends from the rotating end and passes around the intermediate block. The second transmission tendon can generate a fourth torque on the rotating block to rotate about the first axis in the second direction.

2. The tendon-driven joint drive device as described in claim 1, characterized in that, The driving device includes a first driver, a second driver, and a third driver. The first transmission tendon is connected to the first driver, the second transmission tendon is connected to the second driver, and the third transmission tendon and the fourth transmission tendon are respectively connected to the third driver.

3. The tendon-driven joint drive device as described in claim 1, characterized in that, The driving device includes a first driver, a second driver, a third driver, and a fourth driver. The first transmission tendon is connected to the first driver, the second transmission tendon is connected to the second driver, the third transmission tendon is connected to the third driver, and the fourth transmission tendon is connected to the fourth driver.

4. The tendon-driven joint drive device as described in claim 1, characterized in that, The intermediate block also includes a third tendon drive unit and a fourth tendon drive unit; After the first transmission tendon exits from the rotating end, it also passes around the third tendon transmission part, and after the second transmission tendon exits from the rotating end, it also passes around the fourth tendon transmission part.

5. The tendon-driven joint drive device as described in claim 4, characterized in that, The rotating end has a first tendon transmission part, and the first transmission tendon and the second transmission tendon respectively pass around the first tendon transmission part in different directions; The intermediate block also includes a second tendon drive section, and the third and fourth drive tendons pass around the second tendon drive section in different directions.

6. The tendon-driven joint drive device as described in claim 5, characterized in that, The first tendon transmission part includes a first fixed pulley or a first fixed groove; the second tendon transmission part includes a second fixed pulley or a second fixed groove. The third tendon transmission part includes a third pulley, and the fourth tendon transmission part includes a third pulley.

7. A tendon-driven joint drive device as described in claim 5, characterized in that, A first tendon steering element is provided between the first tendon drive section and the third tendon drive section, and the first drive tendon, after exiting the first tendon drive section, passes through the first tendon steering element and then winds around the third tendon drive section; and / or, a first tendon steering element is provided between the first tendon drive section and the fourth tendon drive section, and the second drive tendon, after exiting the first tendon drive section, passes through the first tendon steering element and then winds around the fourth tendon drive section.

8. The tendon-driven joint drive device as described in claim 5, characterized in that, The drive unit also includes a second tendon steering element; The first drive tendon exits from the first tendon drive section, passes around the third tendon drive section, and then turns via the second tendon steering element; and / or, the second drive tendon exits from the first tendon drive section, passes around the fourth tendon drive section, and then turns via the second tendon steering element.

9. A tendon-driven joint drive device as described in claim 1, characterized in that, The rotating end is provided with a first tendon fixing part or a first tendon fixing element for fixing the first and second transmission tendons; the rotating block is provided with a second tendon fixing part or a second tendon fixing element for fixing the third and fourth transmission tendons.

10. A tendon-driven joint drive device as described in claim 1, characterized in that, The first axis and the second axis are perpendicular and not orthogonal; or, the first axis and the second axis are orthogonal.

11. A tendon-driven joint drive device as described in any one of claims 1-10, characterized in that, The driving method for rotating the rotating end relative to the rotating block about the second axis includes: The first, second, and third transmission tendons are all in a tensioned state; the first and second transmission tendons form an antagonistic pair and drive the rotating end to rotate relative to the rotating block about a second axis; the third transmission tendon is used to balance the torque generated by the first and second transmission tendons on the rotating block in a second direction, keeping the rotating block stationary.

12. A tendon-driven joint drive device as described in any one of claims 1-10, characterized in that, The driving method for rotating the rotating block about the first axis relative to the base includes: The first, second, and third transmission tendons are all in a tensioned state; the first and second transmission tendons are pulled at the same speed, and the first and second transmission tendons move in the same direction at the same speed; the first, second, and third transmission tendons form an antagonistic pair, and drive the rotating block to rotate relative to the base around the first axis.

13. A tendon-driven joint drive device as described in claim 12, characterized in that, The driving method for rotating the rotating block relative to the base about the first axis in a second direction includes: The first transmission tendon, the second transmission tendon, and the fourth transmission tendon are all in a tensioned state, while the third transmission tendon is in a relaxed state. The first and second transmission tendons are pulled at the same speed, and the fourth transmission tendon is also pulled, so that the first, second, and fourth transmission tendons simultaneously drive the rotating block to rotate relative to the base in the second direction.

14. A tendon-driven joint drive device as described in claim 13, characterized in that, The driving method includes: When driving the rotating block to rotate around the first axis in the second direction, the normal working mode of the tendon-driven joint drive device is the antagonistic mode; when force is required, the third transmission tendon is changed from a tensioned state to a relaxed state, and the fourth transmission tendon is changed from a relaxed state to a tensioned state, so that the working mode of the tendon-driven joint drive device is changed from the antagonistic mode to the force-increasing mode.

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