Tendon sheath, tendon transmission assembly and robot

Abstract

The invention provides a tendon sheath which comprises a tendon sheath body, and the tendon sheath body comprises a force bearing structure and a sliding sheath. According to the tendon sheath body, the sliding sheath is arranged on the inner side of the tendon sheath body, and when the tendon slides in the tendon sheath, the tendon can make sliding contact with the sliding sheath. The sliding sheath can reduce friction and heating between the tendon and the tendon sheath, the tendon sheath is prevented from damaging the tendon, the reliability of the tendon and the reliability of the tendon sheath are improved, and the service life of the tendon and the service life of the tendon sheath are prolonged. The invention further provides a tendon transmission assembly comprising the tendon sheath and a robot.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and more specifically, to a tendon sheath, a tendon transmission assembly and a robot. Background Art

[0002] The manipulator of a robot usually has multiple joints and a relatively small physical space. In order to achieve independent control of each joint in a small space, tendon transmission technology is used in the prior art to drive multiple joints of the manipulator. A drive assembly including multiple drive units is usually set in a remote area such as an arm, and the drive unit can control the movement of the joint through the tendon. One end of the tendon can be connected to the output end of the actuator, and the other end of the tendon can be connected to the rotating end of the joint. A tendon sheath can be set on the outside of the tendon, and at least a portion of the tendon can slide in the tendon sheath.

[0003] In the prior art, the tendon may be damaged due to friction and cutting force, thereby affecting the reliability and life of the tendon transmission. Summary of the invention

[0004] In order to solve the above problems, the embodiments of the present application provide a tendon sheath, a tendon transmission assembly and a robot.

[0005] The present application provides a tendon sheath, comprising a tendon sheath body, wherein the tendon sheath body comprises a load-bearing structure and a sliding sheath, and at least a portion of the sliding sheath is located on the inner side of the tendon sheath body.

[0006] According to a tendon sheath provided by an embodiment of the present application, the load-bearing structure includes a spring tube, a braided structure, or a winding structure. For example, the braided structure may include one or both of a metal wire braided structure and a fiber braided structure.

[0007] According to a tendon sheath provided in an embodiment of the present application, the load-bearing structure and the sliding sheath are an integrated structure; or, the load-bearing structure and the sliding sheath are separate structures.

[0008] According to a tendon sheath provided in an embodiment of the present application, the sliding sheath includes a self-lubricating tube or a self-lubricating film layer;

[0009] When the load-bearing structure and the sliding sheath are separate structures, the self-lubricating tube is located on the inner side of the load-bearing structure;

[0010] When the load-bearing structure and the sliding sheath are an integral structure, the self-lubricating film layer is formed on the load-bearing structure, or the self-lubricating tube and the load-bearing structure are an integral structure.

[0011] According to a tendon sheath provided in an embodiment of the present application, the tendon sheath body also includes a protective layer; at least a portion of the protective layer is located on the outside of the tendon sheath body.

[0012] According to a tendon sheath provided by an embodiment of the present application, the sliding sheath is made of a polymer material; the protective layer is made of a polymer material; the protective layer and the sliding sheath are made of the same material; or the protective layer and the sliding sheath are made of different materials.

[0013] According to a tendon sheath provided by an embodiment of the present application, the protective layer and the load-bearing structure are an integral structure; or, the protective layer and the load-bearing structure are separate structures.

[0014] According to a tendon sheath provided in an embodiment of the present application, the protective layer, the load-bearing structure and the sliding sheath are an integrated structure.

[0015] According to a tendon sheath provided in an embodiment of the present application, the tendon sheath further comprises a mounting portion, wherein the mounting portion is configured to be used for mounting the tendon sheath;

[0016] The mounting portion is located on the tendon sheath body, or the mounting portion is fixedly connected to the tendon sheath body.

[0017] The present application also provides a tendon transmission assembly, comprising a tendon and the tendon sheath as described above; the tendon can slide through the tendon sheath.

[0018] According to a tendon transmission assembly provided by an embodiment of the present application, a sealing structure is provided between the tendon and the tendon sheath, and the sealing structure is configured to seal the lubricant between the tendon and the tendon sheath.

[0019] According to a tendon transmission assembly provided in an embodiment of the present application, the sealing structure includes a sealing element and a positioning portion, and the positioning portion is configured to install the sealing element; the positioning portion is located on the mounting portion, or the positioning portion includes a positioning element.

[0020] According to a tendon transmission assembly provided in an embodiment of the present application, an oil supply structure is provided on the tendon sheath; the tendon sheath also includes a permeation passage, the permeation passage is connected to the oil supply structure, and the permeation passage is connected to the gap between the tendon and the tendon sheath.

[0021] According to a tendon transmission assembly provided in an embodiment of the present application, the oil supply structure includes an oil injection interface provided on the tendon sheath body, and the tendon transmission assembly also includes an oil supply device, and the oil supply device is connected to the oil injection interface;

[0022] Alternatively, the oil supply structure includes an oil supply bag arranged on the tendon sheath body.

[0023] According to a tendon transmission assembly provided in an embodiment of the present application, the penetration passage includes a penetration hole provided on the sliding sheath body.

[0024] According to a tendon transmission assembly provided in an embodiment of the present application, the oil supply structure is arranged on the load-bearing structure; or, the tendon sheath body also includes a protective layer, and the oil supply structure is arranged on the protective layer on the surface of the tendon sheath.

[0025] According to a tendon transmission assembly provided in an embodiment of the present application, the tendon includes a tendon core body and a self-lubricating layer.

[0026] According to a tendon transmission assembly provided in an embodiment of the present application, the self-lubricating layer includes a sleeve, a fiber braided layer, or a membrane layer formed on the tendon.

[0027] According to a tendon transmission assembly provided in an embodiment of the present application, the position of the sleeve on the tendon core body is relatively fixed.

[0028] According to a tendon transmission assembly provided by an embodiment of the present application, the material of the self-lubricating layer includes a polymer material. Preferably, the material of the sleeve includes a self-lubricating polymer material; and / or, the material of the sleeve includes an anti-wear polymer material.

[0029] According to a tendon transmission assembly provided by an embodiment of the present application, a first anti-wear layer is provided between the tendon core body and the sleeve;

[0030] The first anti-wear layer is formed on the surface of the tendon core body, and / or the first anti-wear layer is formed on the inner surface of the sleeve.

[0031] According to a tendon transmission assembly provided in an embodiment of the present application, the tendon core body includes any one of the following:

[0032] The tendon core body includes an intermediate core material;

[0033] The tendon core body includes multiple strands of braided wire;

[0034] The tendon core body includes a middle core material and a plurality of braided wires wound around the middle core material.

[0035] According to a tendon transmission assembly provided by an embodiment of the present application, the tendon core body includes a second anti-wear layer located between the intermediate core material and the multiple braided wires;

[0036] The second anti-wear layer is formed on the surface of the intermediate core material, and / or the second anti-wear layer is formed on the surface of the multiple braided wires.

[0037] According to a tendon transmission assembly provided in an embodiment of the present application, the tendon core body and the sleeve are an integral structure; or, the tendon core body and the sleeve are separate structures.

[0038] According to a tendon transmission component provided in an embodiment of the present application, the sleeve is a heat shrinkable tube, and the sleeve is sleeved on the tendon core body. After heat shrinkage, the position of the sleeve and the tendon core body are relatively fixed; and / or, both ends of the sleeve are fixed together with the tendon core body.

[0039] The present application also provides a robot comprising a plurality of joints and the tendon transmission assembly as described above.

[0040] The beneficial effects of this application are:

[0041] The tendon sheath body of the present application is provided with a sliding sheath on the inner side of the tendon sheath body, and when the tendon slides in the tendon sheath, the tendon can slide in contact with the sliding sheath. The sliding sheath can reduce the friction and heat between the tendon and the tendon sheath, avoid the tendon sheath from causing damage to the tendon, and is conducive to improving the reliability and life of the tendon and the tendon sheath. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0043] Figure 1 A schematic structural diagram of a first embodiment of a tendon sheath provided in an embodiment of the present application;

[0044] Figure 2 Another structural schematic diagram of the first embodiment of the tendon sheath provided in the embodiment of the present application;

[0045] Figure 3 A schematic structural diagram of a second embodiment of the tendon sheath provided in the embodiment of the present application;

[0046] Figure 4 A schematic structural diagram of a third embodiment of the tendon sheath provided in the embodiments of the present application;

[0047] Figure 5 A schematic structural diagram of a first embodiment of a tendon transmission assembly provided in an embodiment of the present application;

[0048] Figure 6 A schematic structural diagram of a second embodiment of a tendon transmission assembly provided in an embodiment of the present application;

[0049] Figure 7 A schematic structural diagram of a third embodiment of a tendon transmission assembly provided in an embodiment of the present application;

[0050] Figure 8A schematic structural diagram of a first embodiment of the tendon provided in the embodiments of the present application;

[0051] Fig. 9 A schematic structural diagram of a second embodiment of the tendon provided in the embodiment of the present application;

[0052] Fig.10 A schematic structural diagram of a third embodiment of the tendon provided in an embodiment of the present application.

[0053] Among them, the reference numerals in the figure are:

[0054] Tendon 10, tendon core body 11, self-lubricating layer 12, first anti-wear layer 13, intermediate core material 111, multi-strand braided wire 112, second anti-wear layer 113, load-bearing structure 21, sliding sheath 22, protective layer 23, mounting part 24, sealing element 25, positioning part 26, oil filling interface 27, oil supply device 30. DETAILED DESCRIPTION

[0055] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0057] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0059] See also Figures 1 to 10, the tendon sheath, tendon transmission assembly and robot provided in the embodiments of the present application are now described.

[0060] like Figures 1 to 8 As shown, an embodiment of the present application provides a tendon sheath.

[0061] The tendon sheath includes a tendon sheath body. Figure 1 As shown, the tendon sheath body includes a load-bearing structure 21 and a sliding sheath 22.

[0062] The tendon sheath is configured to enable the tendon to slide axially in the tendon sheath. The load-bearing structure 21 can withstand external forces to prevent the tendon sheath from being worn or cut by external forces. The load-bearing structure 21 can constrain the direction of the tendon.

[0063] In one embodiment, the load-bearing structure 21 may include a spring tube, which has good anti-extrusion performance.

[0064] Alternatively, in one embodiment, the load-bearing structure 21 may also include a braided structure. The braided structure may be a metal wire braided tube, a fiber braided structure, or a mixed braided structure of metal wires and fibers. Weaving materials such as metal wires and / or fibers to form the load-bearing structure 21 is conducive to the load-bearing structure 21 being able to be made into any shape and cross-sectional shape, so that the tendon sheath can also form a non-uniform shape. Therefore, it can be understood that the overall shape of the tendon sheath is not limited to the following. Figure 1 The structure shown. The fiber material of the fiber braided structure should be selected so that the load-bearing structure 21 can avoid being worn or cut by external forces. The fibers of the fiber braided structure can include metal fibers, non-metal fibers such as modified polymer fibers and other materials with good tensile resistance. The polymer fiber can be a single component or a composite component polymer material. The composite component polymer material is modified by adding some ingredients and generally has better tensile resistance. It can be understood that the fiber material of the fiber braided structure is not limited to this.

[0065] When the load-bearing structure 21 is in direct contact with the tendon, the friction between the tendon and the load-bearing structure 21 is relatively large, and the tendon or the tendon sheath is easily damaged.

[0066] In the embodiment of the present application, at least a portion of the sliding sheath 22 is located inside the tendon sheath body. The sliding sheath 22 has self-lubricating properties. When the tendon slides in the tendon sheath, the tendon can slide in contact with the sliding sheath 22. The sliding sheath 22 can reduce friction and heat generation between the tendon and the tendon sheath, which is beneficial to improving the reliability and life of the tendon and the tendon sheath.

[0067] The material of the sliding sheath 22 can be a self-lubricating material with a low friction coefficient and good self-lubricating performance, or a wear-resistant material. The sliding sheath 22 is preferably a polymer material. The polymer material may include traditional polymer materials, ultra-high molecular weight materials, polymer materials, polymer modified materials, etc. For example, the sliding sheath 22 may include a fluorine-containing material; preferably, the fluorine-containing material may be a fluoride or a fluorine-containing polymer. The sliding sheath 22 may also be made of a material with good self-lubricating performance and wear-resistant performance.

[0068] The material of the sliding sheath 22 may be a single component or a composite component polymer material. For example, the material of the sliding sheath 22 may include any one or more of fluorine-containing materials, silicone resin (siloxane), modified silicone resin, polyurethane, modified polyurethane, and fluorinated modified silicone resin. It is understandable that the material of the sliding sheath 22 is not limited thereto.

[0069] The sliding sheath 22 may include a self-lubricating film layer or a self-lubricating tube.

[0070] In one embodiment, the self-lubricating film layer can be formed on the load-bearing structure 21, for example, the self-lubricating film layer can be formed on a spring tube. The self-lubricating film layer can be directly formed on the load-bearing structure 21 by nano-spraying, coating, plating, sedimentation, plastic coating and other processes.

[0071] The load-bearing structure 21 and the sliding sheath 22 may be separate structures. In one embodiment, the sliding sheath 22 may include a self-lubricating tube. The self-lubricating tube of the sliding sheath 22 may be located on the inner side of the load-bearing structure 21, such as Figure 1 The load-bearing structure 21 and the sliding sheath 22 can be bound together at the end positions.

[0072] Alternatively, in another embodiment, the load-bearing structure 21 and the sliding sheath 22 may be an integral structure. For example, the self-lubricating tube as the sliding sheath 22 and the braided structure as the load-bearing structure 21 are formed into an integral structure through a molding process, such as Figure 2 Specifically, the sliding sheath 22 and the load-bearing structure 21 can be formed into an integrated structure through mold forming, printing forming, glue pouring, gluing and other processes. In the mold forming and glue pouring process, the braided structure can be prepared in advance.

[0073] The braided structure may be a staggered braid, or a transverse braid that is perpendicular to the axis of the tendon sheath or forms a certain angle, or may be other braiding methods.

[0074] In addition, as an alternative to the load-bearing structure 21, the load-bearing structure 21 may include a winding structure. In one embodiment, the winding structure may be tightly wound around the self-lubricating tube. The winding wire of the winding structure may be made of a material with good tensile strength. The winding structure and the sliding sheath may be glued together. Alternatively, in another embodiment, the winding structure as the load-bearing structure 21 and the self-lubricating tube as the sliding sheath 22 may be formed into an integral structure through a molding process. Specifically, the sliding sheath 22 and the load-bearing structure 21 may be formed into an integral structure through mold molding, printing molding, glue pouring, gluing and other processes. In the mold molding and glue pouring processes, the winding structure may be prepared in advance.

[0075] Optional, such as Figure 3 As shown, the tendon sheath body in this embodiment further includes a protective layer 23. At least a portion of the protective layer 23 is located outside the tendon sheath body. The protective layer 23 can provide protection for the load-bearing structure 21 when the tendon sheath body receives external force.

[0076] In one embodiment, the protective layer 23 includes a protective film layer. The protective film layer can be formed on the load-bearing structure 21. The protective film layer can be directly formed on the load-bearing structure 21 by nano-spraying, coating, plating, sedimentation, plastic coating and other processes. In this specific embodiment, the sliding sheath 22 may include a self-lubricating tube, and the self-lubricating tube and the load-bearing structure 21 may be a separate structure, or the self-lubricating tube and the load-bearing structure 21 may also be an integrated structure.

[0077] Alternatively, in another embodiment, the protective layer 23 includes a protective tube. Preferably, the protective tube can be a flexible hose with good wear resistance.

[0078] The material of the protective layer 23 can be selected from polymer materials. The polymer materials may include traditional polymer materials, ultra-high molecular weight materials, polymer materials, polymer modified materials, etc. For example, the material of the protective layer 23 may include any one or more of fluorine-containing materials, silicone resin (also called siloxane), modified silicone resin, polyurethane, modified polyurethane, and fluorinated modified silicone resin. The fluorine-containing material may be a fluoride or a fluorine-containing polymer. It is understandable that the material of the protective layer 23 is not limited to this.

[0079] The material of the protective layer 23 and the sliding sheath 22 may be the same; or, the material of the protective layer 23 and the sliding sheath 22 may be different.

[0080] In one embodiment, the protective layer 23 and the load-bearing structure 21 may be separate structures; for example, the protective layer 23 includes a protective tube, and the protective tube serving as the protective layer 23 may be sleeved on the load-bearing structure 21 .

[0081] Alternatively, in one embodiment, the protective layer 23 and the load-bearing structure 21 may also be an integral structure; for example, when the protective layer 23 includes a protective tube, the protective tube as the protective layer 23 and the braided structure as the load-bearing structure 21 may be integrated through a molding process. Specifically, the protective tube and the load-bearing structure may be formed into an integral structure through mold molding, printing molding, glue pouring, gluing and other processes. In this specific embodiment, the sliding sheath 22 may include a self-lubricating tube as described above. The self-lubricating tube and the load-bearing structure 21 may be separate structures.

[0082] In addition, in another embodiment, the protective layer 23, the load-bearing structure 21 and the sliding sheath 22 may be an integral structure. For example, when the sliding sheath 22 includes a self-lubricating tube, the load-bearing structure 21 and the self-lubricating tube may be formed into an integral structure through a molding process. In this specific embodiment, the protective layer 23 may be a protective film layer; or, the protective layer 23 may be a protective tube, and the protective tube and the self-lubricating tube are essentially one tube, that is, one tube is used as both the protective tube and the self-lubricating tube, and the load-bearing structure 21 is formed in the tube through a molding process.

[0083] In one embodiment, Figure 4 As shown, the tendon sheath further includes a mounting portion 24, and the mounting portion 24 is configured to be used for mounting the tendon sheath; for example, the mounting portion 24 can be fixedly connected to an external structure.

[0084] The mounting portion 24 can be implemented by means of a bayonet, a mounting groove, a fastener, a paste, a felt, etc.

[0085] In one embodiment, the mounting portion 24 is located on the tendon sheath body; for example, the mounting portion 24 may be formed on the protective layer 23 .

[0086] Alternatively, in another embodiment, the mounting portion 24 includes a mounting element, and the mounting element is fixedly connected to the tendon sheath body. For example, the mounting element is fixed to the tendon sheath body. The mounting element has a neck, and the mounting element is fixed to the tendon sheath body through the neck.

[0087] like Figures 5 to 7 As shown, an embodiment of the present application also provides a tendon transmission assembly.

[0088] like Figure 5 As shown, the tendon transmission assembly includes a tendon 10 and a tendon sheath as described above; the tendon 10 is slidably passed through the tendon sheath.

[0089] There is a lubricant between the tendon 10 and the tendon sheath to reduce the friction between the tendon 10 and the tendon sheath.

[0090] There is also a sealing structure between the tendon 10 and the tendon sheath, and the sealing structure is configured to seal the lubricant between the tendon 10 and the tendon sheath. In one embodiment, a sealing structure can be provided at at least one end of the tendon sheath.

[0091] In one embodiment, the sealing structure may include a sealing element 25 and a positioning portion 26. The positioning portion 26 is configured to install the sealing element 25. The positioning portion 26 may be located on the mounting element; for example, the mounting element has a side wall, and the side wall portion may cover at least a portion of the end surface of the tendon sheath body; the positioning portion 26 is formed on the side wall, such as Figure 5 The shape of the positioning portion 26 can be matched with the shape of the sealing element 25 .

[0092] Alternatively, the positioning portion 26 includes a positioning element, and the positioning element can be mounted on the tendon sheath body. For example, the positioning element can be fixedly connected to the mounting element.

[0093] In an improved embodiment, Figure 6 As shown, an oil supply structure is also provided on the tendon sheath. The tendon sheath body also includes a permeation passage, which is connected to the oil supply structure, and the permeation passage is connected to the gap between the tendon and the tendon sheath. Through the oil supply structure, lubricant can enter the tendon sheath and enter the gap between the tendon and the tendon sheath through the permeation passage.

[0094] In a specific embodiment, the oil supply structure includes an oil injection interface 27 disposed on the tendon sheath body. The oil injection interface 27 is communicated with the permeation passage inside the tendon sheath, and the lubricant can enter the tendon sheath through the oil injection interface 27.

[0095] Alternatively, in a specific embodiment, the oil supply structure includes an oil supply bag disposed on the tendon sheath body, and the oil supply bag contains lubricant.

[0096] When the tendon sheath has a protective layer, the oil supply structure can be arranged on the protective layer 23 on the surface of the tendon sheath. When the tendon sheath does not have a protective layer, the oil supply structure can be arranged on the load-bearing structure 21. When the load-bearing structure 21 and the sliding sheath 22 are an integral structure, the oil supply structure can be arranged on the integral structure of the load-bearing structure 21 and the sliding sheath 22.

[0097] In one embodiment, the permeation passage includes a permeation hole on the tendon sheath body. The load-bearing structure 21, such as a spring tube or a braided structure, generally has a gap or pore, and the lubricant can pass through the load-bearing structure 21. A permeation hole (not shown in the figure) can be set on the sliding sheath 22. After the lubricant enters the tendon sheath through the oil supply structure, the lubricant can pass through the load-bearing structure 21 and penetrate into the gap between the tendon and the tendon sheath through the permeation hole.

[0098] Further, such as Figure 7 As shown, when the oil supply structure includes an oil injection interface 27, the tendon transmission assembly also includes an oil supply device 30, and the oil supply device 30 is connected to the oil injection interface 27. In one embodiment, the oil storage device is connected to the oil injection interface 27 of at least one tendon sheath, and the oil supply device 30 can inject lubricant into multiple tendon sheaths respectively through pipelines, and keep the amount of lubricant in the tendon sheaths within a reasonable range. The oil supply device 30 can use pressure to allow lubricating oil to enter the tendon sheath. The oil supply device 30 includes an oil storage device, and the oil storage device includes an oil tank.

[0099] The tendon in the embodiment of the present application may adopt the tendon of the prior art.

[0100] Alternatively, the present application embodiment also provides an improved tendon, see Figures 8 to 10 .

[0101] like Figure 8 As shown, the tendon 10 includes a tendon core body 11 and a self-lubricating layer 12. The self-lubricating layer 12 can be formed of a self-lubricating material. The self-lubricating layer 12 can protect the tendon core body 11, reduce the friction and heat between the tendon and the tendon sheath, and help improve the reliability and life of the tendon.

[0102] In one embodiment, the self-lubricating layer 12 may include a film layer formed on the tendon 10, and the film layer may be directly formed on the tendon core body 11 by nano-spraying, coating, plating, sedimentation, overmolding and other processes.

[0103] In one embodiment, the self-lubricating layer 12 may include a fiber braided layer.

[0104] Alternatively, in one embodiment, the self-lubricating layer 12 includes a sleeve formed of a self-lubricating material, and the sleeve is wrapped around the tendon core body 11.

[0105] In one embodiment, the sleeve has a smooth surface and is a flexible hose.

[0106] In one embodiment, the sleeve is relatively fixedly arranged on the tendon core body 11. The sleeve will not slide on the tendon core body 11, and when the tendon moves in the tendon sheath, the tendon core body 11 and the sleeve move synchronously.

[0107] In the present application, the shape of the cross section of the tendon is not limited.

[0108] It is understandable that the material of the self-lubricating layer 12 can be multiple. Preferably, the self-lubricating layer 12 can be made of polymer materials. The polymer materials can include traditional polymer materials, ultra-high molecular weight materials, polymer materials, polymer modified materials, etc. For example, the self-lubricating material can include any one or more of fluorine-containing materials, silicone resins, modified silicone resins, polyurethanes, modified polyurethanes, and fluorinated modified silicone resins. It is understandable that the types of the self-lubricating materials are not limited to this.

[0109] According to a tendon provided by the present application, the material of the self-lubricating layer 12 includes a self-lubricating polymer material, or the material of the self-lubricating layer 12 includes an anti-wear polymer material. The self-lubricating polymer material can be selected from polymer materials with a low friction coefficient and good self-lubricating performance. For example, the self-lubricating polymer material may include a fluorine-containing material; preferably, the fluorine-containing material may be a fluoride or a fluorine-containing polymer; it is understandable that the self-lubricating polymer material is not limited to this. The anti-wear polymer material can be selected from polymer materials with good anti-wear performance. For example, the sleeve of the anti-wear polymer material can be formed by silicone resin (also called siloxane), polyurethane, modified silicone resin, or modified polyurethane; it is understandable that the anti-wear polymer material is not limited to this. Preferably, the self-lubricating layer 12 can be selected from polymer materials with both good self-lubricating performance and anti-wear performance. When the self-lubricating layer 12 may include the sleeve, the sleeve 12 may be a self-lubricating sleeve, or the sleeve 12 may be an anti-wear sleeve.

[0110] When the self-lubricating layer 12 may include a fiber braided layer or the sleeve, the tendon core body 11 and the self-lubricating layer 12 may be an integral structure. For example, the tendon core body 11 and the self-lubricating layer 12 may be formed into an integral structure through a molding process. Specifically, the tendon core body 11 and the self-lubricating layer 12 may be formed into an integral structure through mold molding, printing molding, glue pouring, gluing and other processes. Alternatively, the tendon core body 11 and the self-lubricating layer 12 are separate structures.

[0111] When the tendon is bent, friction may occur between the tendon core body 11 and the self-lubricating layer 12. In order to meet the stringent requirements on the tendon under some special working conditions, further, such as Fig. 9 As shown, there is a first anti-wear layer 13 between the tendon core body 11 and the self-lubricating layer 12.

[0112] The first anti-wear layer 13 is formed on the surface of the tendon core body 11; or, the second anti-wear layer 113 is formed on the inner surface of the self-lubricating layer 12; or, the first anti-wear layer 13 is formed on both the surface of the tendon core body 11 and the inner surface of the self-lubricating layer 12.

[0113] The first anti-wear layer 13 may include any one of a nano-sprayed layer, a coating layer, a plating layer, and a sedimentation layer. Those skilled in the art will appreciate that the material of the first anti-wear layer 13 may be a variety of materials, for example, the material of the first anti-wear layer 13 may include any one or more of a fluorine-containing material, a silicone resin, a modified silicone resin, a polyurethane, a modified polyurethane, and a fluorinated modified silicone resin.

[0114] The tendon core body 11 is made of a tensile-resistant material so that the tendon is not stretched during operation. In one embodiment, the tendon core body 11 can be made of a metal wire or a polymer material wire.

[0115] The tendon core body 11 includes any one of the following:

[0116] In a specific embodiment, the tendon core body 11 includes an intermediate core material 111 .

[0117] In a specific embodiment, the tendon core body 11 includes multiple braided wires 112, and the tendon core body 11 is formed by multiple braided wires 112. The multiple braided wires 112 can be formed by the same material, or the multiple braided wires 112 can be formed by different materials. Preferably, the braided wires 112 are formed by polymer materials.

[0118] In a specific embodiment, Fig.10 As shown, the tendon core body 11 includes a middle core material 111 and a plurality of braided wires 112 wound around the middle core material 111 .

[0119] When the tendon core body 11 includes an intermediate core material 111 and a plurality of braided wires 112 wound around the intermediate core material 111, internal friction exists between the intermediate core material 111 and the plurality of braided wires 112 wound around the intermediate core material 111. Furthermore, the tendon core body 11 includes a second anti-wear layer 113 located between the intermediate core material 111 and the plurality of braided wires 112.

[0120] The second anti-wear layer 113 may be formed on the surface of the intermediate core material 111, and / or, the second anti-wear layer 113 may be formed on the surface of the multi-strand braided wire 112. The second anti-wear layer 113 may include any one of a nano-sprayed layer, a coating layer, a plating layer, and a sedimentation layer. Those skilled in the art will appreciate that the material of the second anti-wear layer 113 may be a variety of materials, for example, the material of the second anti-wear layer 113 includes any one or more of fluorine-containing materials, silicone resins, modified silicone resins, polyurethanes, modified polyurethanes, and fluorinated modified silicone resins. The material of the second anti-wear layer 113 is not limited thereto.

[0121] In one embodiment, at least one end of the tendon core body 11 is exposed from the sleeve. On the one hand, it is beneficial to fix the end of the tendon with other components. On the other hand, it is beneficial to accurately control the length of the tendon when the tendon is wound on a capstan or a pulley. Preferably, both ends of the tendon core body 11 are exposed from the sleeve.

[0122] In order to make the position of the sleeve on the tendon core body 11 relatively fixed and avoid relative sliding between the self-lubricating layer 12 and the tendon core body 11 during tendon transmission, in one embodiment, the sleeve is a heat shrinkable tube, which is sleeved on the tendon core body 11. Due to the heat shrinkage effect, the position of the sleeve and the tendon core body 11 are relatively fixed after heat shrinkage.

[0123] In another embodiment, the two ends of the sleeve can be fixed together with the tendon core body 11 by a fixing structure (not shown in the figure); or, the two ends of the sleeve can be fixed together with the tendon core body 11 by bonding.

[0124] An embodiment of the present application also provides a robot comprising a plurality of joints and the tendon transmission assembly as described above.

[0125] The beneficial effects of this application are:

[0126] The tendon sheath body of the present application includes a load-bearing structure and a sliding sheath located inside the load-bearing structure. The sliding sheath is arranged on the inside of the tendon sheath body. When the tendon slides in the tendon sheath, the tendon can slide in contact with the sliding sheath. The sliding sheath can reduce the friction and heat generation between the tendon and the tendon sheath, avoid the tendon sheath from causing damage to the tendon, and is conducive to improving the reliability and life of the tendon.

[0127] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A tendon sheath, characterized in that: It comprises a tendon sheath body, which comprises a load-bearing structure and a sliding sheath, and at least a part of the sliding sheath is located on the inner side of the tendon sheath body.

2. A tendon sheath as claimed in claim 1, characterized in that: The load-bearing structure includes a spring tube, a braided structure, or a winding structure.

3. A tendon sheath as claimed in claim 1, characterized in that: The load-bearing structure and the sliding sheath are an integrated structure; or, the load-bearing structure and the sliding sheath are separate structures.

4. A tendon sheath as claimed in claim 3, characterized in that: The sliding sheath includes a self-lubricating tube or a self-lubricating film layer; When the load-bearing structure and the sliding sheath are separate structures, the self-lubricating tube is located on the inner side of the load-bearing structure; When the load-bearing structure and the sliding sheath are an integral structure, the self-lubricating film layer is formed on the load-bearing structure, or the self-lubricating tube and the load-bearing structure are an integral structure.

5. A tendon sheath as claimed in claim 1, characterized in that: The tendon sheath body also includes a protective layer; at least a portion of the protective layer is located on the outside of the tendon sheath body.

6. A tendon sheath as claimed in claim 1 or 5, characterized in that: The sliding sheath is made of polymer material; the protective layer is made of polymer material.

7. A tendon sheath as claimed in claim 5, characterized in that: The protective layer and the load-bearing structure are an integrated structure; or, the protective layer and the load-bearing structure are separate structures.

8. A tendon sheath as claimed in claim 5, characterized in that: The protective layer, the load-bearing structure and the sliding sheath are an integrated structure.

9. A tendon sheath as claimed in claim 1, characterized in that: The tendon sheath further comprises a mounting portion, wherein the mounting portion is configured to be used for mounting the tendon sheath; The mounting portion is located on the tendon sheath body, or the mounting portion is fixedly connected to the tendon sheath body.

10. A tendon transmission assembly, characterized in that: The invention comprises a tendon and a tendon sheath as claimed in any one of claims 1 to 9; the tendon can slide through the tendon sheath.

11. A tendon transmission assembly according to claim 10, characterized in that: A sealing structure is provided between the tendon and the tendon sheath, and the sealing structure is configured to seal the lubricant between the tendon and the tendon sheath.

12. A tendon transmission assembly according to claim 11, characterized in that: The sealing structure comprises a sealing element and a positioning portion, wherein the positioning portion is configured to be used for mounting the sealing element; the positioning portion is located on the mounting portion, or the positioning portion comprises a positioning element.

13. A tendon transmission assembly as claimed in claim 10, characterized in that: The tendon sheath is provided with an oil supply structure; the tendon sheath also includes a permeation passage, the permeation passage is communicated with the oil supply structure, and the permeation passage is communicated with the gap between the tendon and the tendon sheath.

14. A tendon transmission assembly according to claim 13, characterized in that: The oil supply structure includes an oil injection interface arranged on the tendon sheath body, and the tendon transmission assembly also includes an oil supply device, and the oil supply device is connected to the oil injection interface; Alternatively, the oil supply structure includes an oil supply bag arranged on the tendon sheath body.

15. A tendon transmission assembly as claimed in claim 13, characterized in that: The permeation passage includes a permeation hole provided on the sliding sheath body.

16. A tendon transmission assembly as claimed in claim 13, characterized in that: The oil supply structure is arranged on the load-bearing structure; or, the tendon sheath body further includes a protective layer, and the oil supply structure is arranged on the protective layer on the surface of the tendon sheath.

17. A tendon transmission assembly as claimed in claim 10, characterized in that: The tendon includes a tendon core body and a self-lubricating layer.

18. A robot, characterized in that: The invention comprises a plurality of joints and a tendon transmission assembly as claimed in any one of claims 10 to 17.

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