A combined tendon-rope driven robot movable joint

Abstract

The present invention discloses a combined tendon-driven robot movable joint, and relates to the technical field of robot movable joints. It includes a mounting frame, an movable joint plate, a pulling assembly, a driving assembly, a control member, a driving member, and the like. The present invention pulls and pulls the movable joint plate in a ligament-like manner through the mutual cooperation of the pulling assemblies on the opposite sides of the joint with the driving assembly, the control member, and the driving member, so that the tendon rope has control functions including increasing, reducing, storing, and releasing kinetic energy during the process of transmitting kinetic energy, which can not only effectively buffer impact force and fatigue stress, but also has artificial muscle-like functions, and can adjust the force size, motion acceleration size, superimposed force direction, and force duration of the kinetic energy transmitted by the tendon rope, so that the transmission has both flexible buffering, deceleration, and acceleration effects, and also hard and rigid transmission effects, thereby increasing the motion control mode of the robot mechanical joint.

Description

Technical Field

[0001] The invention relates to the technical field of rope transmission and the technical field of robot movable joints, and in particular to a combined tendon rope driven robot movable joint. Background Art

[0002] Robot joints are the basis for robots to achieve various movements. Through the combined movements of different types of joints, robots can complete complex trajectory movements in space, such as linear movement, curved movement, spiral movement, etc. These movement capabilities enable robots to adapt to various work scenarios and task requirements, such as material handling, parts processing and product assembly on industrial production lines; providing people with guided tours, reception, cleaning and other services in the service field; and conducting experimental operations, data collection and sample analysis in scientific research.

[0003] The mechanical structure of traditional robot joints is usually complex and consists of multiple parts. These parts are affected by friction, impact, fatigue stress and other factors during long-term movement, and are prone to wear, deformation and fracture, resulting in poor durability of the joints. For example, the joint gears of industrial robots will gradually wear out due to friction during long-term high-speed operation, resulting in a decrease in the gear tooth profile accuracy, which affects the joint movement accuracy and reliability; the sealing performance of traditional robot joints is also very important. If the sealing is poor, impurities such as dust, moisture and oil will enter the joint, accelerate the wear and corrosion of parts, and further reduce the durability of the joint; in addition, traditional tendon cable transmission can only transmit fixed kinetic energy in a single way, and cannot adjust the force of the transmitted kinetic energy, the acceleration of the movement, the direction of the superimposed force, and the duration of the force. It also requires a certain preload force and a single control method. It cannot achieve both flexible buffering, deceleration, and acceleration transmission effects, as well as hard and rigid transmission effects, and has poor control accuracy. To this end, we propose a combined tendon cable driven robot joint. Summary of the invention

[0004] The object of the present invention is to provide a combined tendon-driven robot movable joint to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a combined tendon-driven robot movable joint, comprising a robot base and a mounting frame fixed to the upper end of the robot base, the mounting frame being rotatably connected to a movable joint plate via a pin, and further comprising:

[0006] A plurality of pulling components arranged on both sides of the movable joint plate for pulling the movable joint plate to make the movable joint plate move;

[0007] The pulling assembly includes a first pull rope and a second pull rope, one end of the first pull rope is connected and fixed to one side of the movable joint plate, and a winding assembly for winding the second pull rope and a driving assembly for driving the winding assembly are provided on the robot base. The winding assembly and the driving assembly are arranged in a one-to-one correspondence, and an elastic assembly for elastic pulling is provided at the opposite end of the first pull rope and the second pull rope.

[0008] Preferably, the elastic component includes an elastic ring fixed to the end of the first pull rope, and two groups of symmetrically arranged sliding sleeves are fixedly connected to the elastic ring. The two groups of sliding sleeves are connected and fixed to the second pull rope through elastic ropes. A hard rope for elastic force limitation is arranged between the first pull rope and the second pull rope, and a sensor for identifying the sliding distance of the sliding sleeve is arranged on the first pull rope.

[0009] Preferably, the winding assembly includes a first support frame fixed to the upper end of the robot base, a first rotating roller is rotatably connected to the first support frame, a winding wheel is sleeved on the outer side of the first rotating roller, the second pull rope is wound on the winding wheel, and a traction assembly for guiding the traction of the second pull rope during the transmission process and a unidirectional limiting assembly for limiting the first rotating roller in one direction after rotation are provided on the robot base.

[0010] Preferably, the driving assembly includes a second supporting frame fixed to the upper end of the robot base, the second supporting frame is rotatably connected to a transmission shaft, a second rotating roller is fixed to the transmission shaft, a driving member for driving the transmission shaft is installed on the robot base, a transmission assembly for power transmission is arranged between the transmission shafts of adjacent driving assemblies, a gear ring is sleeved on the outer side of the second rotating roller, a gear is fixed on the first rotating roller, the gear ring and the gear are meshed with each other, and a power transmission switch control member for controlling the transmission of the gear ring is arranged on the transmission shaft.

[0011] Preferably, the driving member comprises a driving motor mounted on a robot base, and an output end of the driving motor is fixed to one end of a transmission shaft.

[0012] Preferably, the control component includes a power transmission switch control component and a one-way brake switch control component, the power transmission switch control component includes a first electromagnetic clutch (8) installed on the transmission shaft (702) for controlling the transmission and disconnection of the ring gear (704), and the one-way brake switch control component includes a second electromagnetic clutch (12) for controlling the transmission and disconnection between the first rotating roller (402) and the winding wheel (403).

[0013] Preferably, the transmission assembly includes a first spline shaft arranged between the transmission shafts of two adjacent groups of drive assemblies, a second spline shaft is fixed to one end of the transmission shaft, and two groups of symmetrically arranged spline sleeves are connected to the first spline shaft through a telescopic assembly, and the two groups of spline sleeves are respectively connected to the second spline shafts on the two adjacent groups of transmission shafts.

[0014] Preferably, the telescopic assembly includes a baffle fixed centrally on the outer side of the first spline shaft, and the outer side of the first spline shaft is sleeved with two groups of springs, and the two ends of the two groups of springs are respectively connected to the baffle and the end of the spline sleeve.

[0015] Preferably, the traction assembly includes a fixed frame fixed to the upper end of the robot base, the fixed frame is rotatably connected to two groups of rotating shafts, the two groups of rotating shafts are fixed with support wheels, and the second pull rope passes between the two groups of support wheels and is arranged to be against each other.

[0016] Preferably, the one-way limiting assembly includes a mounting platform fixed to the upper end of the robot base, a connecting shaft is centrally fixed on the first rotating roller, and a one-way limiting machine for limiting the rotation of the connecting shaft in one direction is fixed on the mounting platform.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention uses the cooperation between the pulling component and the driving component, the control component and the driving component to pull the movable joint plate in a ligament-like manner. The structure of the movable joint of the entire combined tendon-rope driven robot is relatively simple. Through the cooperation between the various control components, the elastic ring on the elastic component, the sliding sleeve and the elastic rope, the tendon rope has the control functions of increasing, reducing, storing and releasing kinetic energy during the kinetic energy transmission process. It can not only effectively buffer the impact force and fatigue stress, reduce the wear and deformation of parts and components, thereby improving the durability and reliability of the joint, but also make the tendon rope have artificial muscle-like functions, and can adjust the force of the tendon rope to transmit kinetic energy, the magnitude of the movement acceleration, the direction of the superimposed force, and the duration of the force, so that the tendon rope transmission has both flexible buffering, deceleration and acceleration effects, and hard and rigid transmission effects, thereby increasing the motion control mode of the robot mechanical joint;

[0019] 2. The tendon rope function formed by the elastic component of the present invention has the functions of storing, releasing, amplifying and reducing the transmitted power, so that the tendon rope has the function of artificial muscle, which can adjust the force of transmitted kinetic energy, movement acceleration, superimposed force direction, and force duration, and make the tendon rope transmission have both flexible buffering, deceleration and acceleration effects, and hard and rigid transmission effects;

[0020] 3. The present invention has a tendon transmission structure with variable stiffness and a pseudo-neural network control mode, which can realize dynamic adjustment of stiffness and flexibility, so that the robot itself can produce a reaction action to the force and perform flexible contact operations with any size of force with high mechanical stiffness. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall appearance structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the elastic component of the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of the one-way limit assembly of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the winding assembly, driving assembly, control component and driving component of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of the traction assembly of the present invention;

[0026] Figure 6 It is a schematic diagram of the transmission assembly structure of the present invention;

[0027] Figure 7 for Figure 2 Enlarged view of point A in the middle;

[0028] Figure 8 is another structural schematic diagram of the elastic component;

[0029] Fig. 9 is a schematic diagram of the secondary structure of the elastic component;

[0030] Fig.10 Schematic diagram of the three-level structure of the elastic component.

[0031] Fig.11 Schematic diagram of the principle of combined tendon rope.

[0032] In the figure: 101, robot base; 102, mounting frame; 103, movable joint plate; 104, pin shaft; 201, first pull rope; 202, second pull rope; 301, elastic ring; 302, sliding sleeve; 303, elastic rope; 304, hard rope; 401, first support frame; 402, first rotating roller; 403, winding wheel; 501, fixed frame; 502, rotating shaft; 503, supporting wheel; 601, mounting table; 602, connecting shaft; 603, one-way limiter; 701, second support frame; 702, transmission shaft; 703, second rotating roller; 704, gear ring; 705, gear; 8, first electromagnetic clutch; 9, driving motor; 1001, first spline shaft; 1002, spline sleeve; 1003, second spline shaft; 1101, baffle; 1102, spring; 12, second electromagnetic clutch. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example 1

[0035] See also Figure 1-Figure 11 The combined tendon-driven robot movable joint shown in the figure includes a robot base 101 and a mounting frame 102 fixed to the upper end of the robot base 101, and a movable joint plate 103 is rotatably connected to the mounting frame 102 through a pin 104, and also includes:

[0036] A plurality of pulling components disposed on both sides of the movable joint plate 103 for pulling the movable joint plate 103 to make the movable joint plate 103 move;

[0037] The pulling assembly includes a first pull rope 201 and a second pull rope 202. One end of the first pull rope 201 is connected and fixed to one side of the movable joint plate 103. A winding assembly for winding the second pull rope 202 and a driving assembly for driving the winding assembly are provided on the robot base 101. The winding assembly and the driving assembly are provided in a one-to-one correspondence. An elastic assembly for elastic pulling is provided at the opposite end of the first pull rope 201 and the second pull rope 202.

[0038] It should be noted here that: through the mutual cooperation of the pulling component and the driving component, the control component, the driving component and the one-way limit component, the movable joint plate 103 is pulled and pulled in a combined tendon rope drive mode. The structure of the entire combined tendon rope driven robot movable joint is relatively simple. Through the mutual cooperation of the first electromagnetic clutch 8, the second electromagnetic clutch 12, the elastic ring 301 on the elastic component, the sliding sleeve 302 and the elastic rope 303, during the joint movement process, the tendon rope has four basic control functions including increasing, reducing, storing and releasing kinetic energy in the process of transmitting kinetic energy. It can not only effectively buffer the impact force and fatigue stress, reduce the wear and deformation of parts, thereby improving the durability and reliability of the joint, but also make the tendon rope have artificial muscle-like functions, and can adjust the force of the tendon rope to transmit kinetic energy, the speed of the rope per unit moving distance, the direction of the superimposed force, and the continuous action time, so that the tendon rope transmission has both flexible buffering, deceleration, and acceleration effects, and hard and rigid transmission effects, thereby increasing the motion control mode of the robot mechanical joint;

[0039] It is worth noting here that:.

[0040] Preferably, the elastic component includes an elastic ring 301 fixed to the end of the first pull rope 201, two groups of symmetrically arranged sliding sleeves 302 are fixedly connected to the elastic ring 301, the two groups of sliding sleeves 302 are connected and fixed to the second pull rope 202 through an elastic rope 303, a hard rope 304 for elastic force limitation is arranged between the first pull rope 201 and the second pull rope 202, and a sensor for identifying the sliding distance of the sliding sleeve 302 is arranged on the first pull rope 201;

[0041] It should be noted here that: the first rotating roller 402 is driven to rotate through transmission, and during the rotation of the first rotating roller 402, the second pull rope 202 is reeled and pulled through the reel-up wheel 403, and during the reeling and pulling of the second pull rope 202, the elastic rope 303 and the elastic ring 301 are deformed and the elastic force on the first pull rope 201 is increased through the connection effect, further increasing the traction force on the movable joint plate 103, and in the pulling process, as the elastic rope 303 and the elastic ring 301 are continuously stretched and deformed, when the use length is the same as that of the hard rope 304, the elastic rope 303 and the elastic ring 301 are no longer further stretched and deformed due to the limitation of the hard rope 304, thereby avoiding excessive traction force on the movable joint plate 103;

[0042] It is worth noting here that: the elongated and deformed lengths of the elastic rope 303 and the elastic ring 301 are identified by the sensor, which further facilitates the determination of the pulling force on the movable joint plate 103;

[0043] For the elastic component, there can also be another set of elastic limit methods, see Figure 8As shown, another elastic component includes a cylinder, the interior of the cylinder is connected to a limit baffle through an elastic component, and the first pull rope 201 and the second pull rope 202 are respectively connected to the end of the cylinder and the limit baffle. During operation, by reeling in the second pull rope 202, the limit baffle slides inside the cylinder and the elastic component cylinder and the first pull rope 201 generate elastic force, further increasing the traction tension on the movable joint plate 103. During the pulling process, when the limit baffle abuts against the inner wall of the cylinder, the elastic rope 303 and the elastic ring 301 are restricted by the inner wall of the cylinder so that the elastic rope 303 and the elastic ring 301 will not be further stretched and deformed, thereby avoiding excessive traction on the movable joint plate 103.

[0044] For the connection method of the elastic component, a secondary structure can be composed of multiple primary structures connected in series, see Fig. 9 state, and can also be composed of multiple primary and / or secondary structures in parallel to form a tertiary structure, see Fig.10 The state can be adjusted and controlled more flexibly with different elastic forces through the formed multi-level structure.

[0045] Preferably, the winding assembly includes a first support frame 401 fixed to the upper end of the robot base 101, a first rotating roller 402 is rotatably connected to the first support frame 401, a winding wheel 403 is sleeved on the outer side of the first rotating roller 402, the second pull rope 202 is wound on the winding wheel 403, and a traction assembly for guiding the second pull rope 202 during the transmission process and a one-way limiting assembly for limiting the first rotating roller 402 after rotation are provided on the robot base 101; the driving assembly includes a second support frame 701 fixed to the upper end of the robot base 101, and a second A transmission shaft 702 is rotatably connected to the support frame 701, a second rotating roller 703 is fixed to the transmission shaft 702, a driving member for driving the transmission shaft 702 is installed on the robot base 101, a transmission assembly for power transmission is arranged between the transmission shafts 702 of adjacent driving assemblies, a gear ring 704 is sleeved on the outer side of the second rotating roller 703, a gear 705 is fixed to the first rotating roller 402, the gear ring 704 and the gear 705 are meshed with each other, and a power transmission switch control member for controlling the transmission of the gear ring 704 is arranged on the transmission shaft 702;

[0046] It should be noted here that: the first electromagnetic clutch 8 of the power transmission switch control component at the corresponding position is started, and during the starting process, the ring gear 704 on the outside of the second rotating roller 703 is driven to rotate, and during the rotation of the ring gear 704, the first rotating roller 402 is driven to rotate through the mutual engagement transmission of the ring gear 704 and the gear 705, and during the rotation of the first rotating roller 402, the second pull rope 202 is reeled and pulled by the reel-up wheel 403, and during the reeling and pulling of the second pull rope 202, through the connection action, the elastic rope 303 and the elastic ring 301 are deformed and the elastic force on the first pull rope 201 is increased, thereby further increasing the traction tension on the movable joint plate 103 to achieve tension adjustment.

[0047] Preferably, the driving member includes a driving motor 9 mounted on the robot base 101, and the output end of the driving motor 9 is fixed to one end of the transmission shaft 702;

[0048] It should be noted that the transmission shaft 702 can be controlled to rotate by driving the motor 9. The driving shaft 702 can be further extended to multiple combined tendon ropes, so that the multiple combined tendon ropes use the same power source driving motor 9.

[0049] Preferably, the control component comprises a power transmission switch control component and a one-way brake switch control component, wherein the power transmission switch control component comprises a first electromagnetic clutch (8) mounted on the transmission shaft (702) for controlling the transmission and disconnection of the gear ring (704), and the one-way brake switch control component comprises a second electromagnetic clutch (12) for controlling the transmission and disconnection between the first rotating roller (402) and the winding wheel (403);

[0050] It should be noted here that: the first electromagnetic clutch 8 is used to control whether the ring gear 704 rotates when the transmission shaft 702 rotates;

[0051] 1. When the second electromagnetic clutch 12 is closed, the winding wheel 403 is not connected to the first rotating roller 402 and the connecting shaft 602, and the entire elastic component is not constrained. In this case:

[0052] 1. When the ipsilateral power transmission switch control member is turned on and the ipsilateral pulling force it transmits is greater than the contralateral antagonistic force, the movable joint plate 103 is pulled to move to the ipsilateral side;

[0053] 2. When the opposite side power transmission switch control component is turned on and the pulling force on the opposite side is greater than the antagonistic force on the same side, the movable joint plate 103 is pulled to move to the opposite side.

[0054] 2. When the second electromagnetic clutch 12 is turned on, the entire elastic assembly is limited in one direction due to the resistance and braking effect of the one-way limiter 603 when the connecting shaft 602 rotates in the direction of pulling the movable joint plate 103 to the opposite side, thereby playing a one-way braking and limiting role; while in the direction of pulling the movable joint plate 103 in the same direction, there is no resistance and braking effect, and the movement of the entire combined tendon rope in this direction is not restricted. Please refer to Fig.11 , in this case:

[0055] 1. When the first electromagnetic clutch 8 on the same side is opened again, the power is transmitted in sequence, the elastic component on the same side begins to stretch, and the combined tendon rope can move in the direction of the active joint plate 103 pulled by the tension on the same side; when the pulling force transmitted on the same side is greater than the antagonistic force on the opposite side, the active joint plate 103 is pulled from static to the same side.

[0056] 2. If the opposite side one-way brake switch control component is turned on in the direction in which the opposite side elastic component pulls the movable joint plate 103 back, resistance and braking effect on the opposite side of the movable joint plate 103, that is, pulling the movable joint plate 103 to the same side, are generated. At this time, the movable joint plate 103 is subjected to resistance and braking effect in two corresponding antagonistic directions. In this case,

[0057] (1) If the power transmission switch control components on one or both sides are turned on again for a certain period of time, the pulling forces opposing each other on both sides will continue to increase during the opening process, and the elastic components on both sides will be stretched. At this time, the kinetic energy is converted into the elastic potential energy of the elastic components on both sides and stored until the elasticity of the elastic components is limited to the maximum extent by the hard rope 304. In this case:

[0058] ① As the duration of opening of the power transmission switch control components varies, the elastic potential energy stored in the elastic components on both sides also changes. As the elastic ring 301 and the elastic rope 303 in the elastic component are stretched, when the stretching length is limited by the elastic protection structure hard rope 304, the stored elastic potential energy reaches the maximum. The power transmission of the combined tendon rope is transmitted by the hard rope 304 in a hard and rigid manner;

[0059] ② When the elastic component stores a certain amount of elastic potential energy, the combined tendon rope is controlled to increase, decrease, store and release kinetic energy in the process of transmitting kinetic energy by opening, closing and opening duration of the control components:

[0060] 1) The process of increasing the transmission kinetic energy: During the same time period when the power transmission switch control component on one side is turned on, the one-way brake switch control component on the opposite side is closed to release the elastic potential energy stored in the elastic component on the opposite side. The direction of action of this elastic potential energy on the opposite side is consistent with the transmission direction of the tendon rope on the same side. The kinetic energy on both sides is superimposed and increased, the kinetic energy transmitted by the combined tendon rope is increased, and the movement speed of the rope per unit distance is increased.

[0061] 2) The process of reducing the transmission kinetic energy, in the same time period when the power transmission switch control part on one side is turned on, in this case:

[0062] a. Turn off the one-way brake switch control on the same side to release the elastic potential energy stored in the elastic component on the same side. The direction of action of this elastic potential energy on the same side is opposite to the transmission direction of the tendon rope on the same side. The kinetic energy on both sides is superimposed and offset, the kinetic energy transmitted by the combined tendon rope is reduced, and the movement speed of the rope per unit distance is reduced.

[0063] b. Briefly or intermittently open the power transmission switch control on the opposite side to generate a reverse pulling force to resist the pulling force of the tendon rope on the same side. The kinetic energy on both sides is superimposed and offset, the kinetic energy transmitted by the combined tendon rope is reduced, and the movement speed of the rope per unit distance is reduced.

[0064] Preferably, the transmission assembly includes a first spline shaft 1001 disposed between the transmission shafts 702 of two adjacent groups of drive assemblies, a second spline shaft 1003 is fixed to one end of the transmission shaft 702, two groups of symmetrically arranged spline sleeves 1002 are connected to the first spline shaft 1001 through a telescopic assembly, and the two groups of spline sleeves 1002 are respectively connected to the second spline shafts 1003 on the two adjacent groups of transmission shafts 702;

[0065] It should be noted here that the first spline shaft 1001 , the second spline shaft 1003 and the spline sleeve 1002 are used to assist the connection transmission between the two sets of transmission shafts 702 .

[0066] Preferably, the telescopic assembly includes a baffle 1101 centrally fixed to the outside of the first spline shaft 1001, and the outside of the first spline shaft 1001 is sleeved with two groups of springs 1102, and the two ends of the two groups of springs 1102 are respectively connected to the baffle 1101 and the end of the spline sleeve 1002;

[0067] It should be noted here that: the mutual cooperation between the baffle 1101 and the spring 1102 facilitates the telescopic connection of the spline sleeve 1002 on the first spline shaft 1001, and the telescopic connection of the spline sleeve 1002 facilitates the sleeve connection between the spline sleeve 1002 and the second spline shaft 1003.

[0068] Preferably, the traction assembly includes a fixing frame 501 fixed to the upper end of the robot base 101, two sets of rotating shafts 502 are rotatably connected to the fixing frame 501, and support wheels 503 are fixed to the two sets of rotating shafts 502, and the second pull rope 202 passes through between the two sets of support wheels 503 and is set against each other;

[0069] It should be noted here that: when it is necessary to control the pulling force on the pulling component at the corresponding position, the first electromagnetic clutch 8 at the corresponding position is started, and during the starting process, the ring gear 704 on the outside of the second rotating roller 703 is driven to rotate, and during the rotation of the ring gear 704, the first rotating roller 402 is driven to rotate through the mutual engagement transmission of the ring gear 704 and the gear 705, and during the rotation of the first rotating roller 402, the second pull rope 202 is reeled and pulled by the reel-up wheel 403, and during the reeling and pulling of the second pull rope 202, through the connection action, the elastic rope 303 and the elastic ring 301 are deformed and the elastic force on the first pull rope 201 is increased, thereby further increasing the traction force on the movable joint plate 103 to achieve tension adjustment.

[0070] Preferably, the one-way limiting assembly includes a mounting platform 601 fixed to the upper end of the robot base 101, a connecting shaft 602 is fixed in the center of the first rotating roller 402, and a limiting machine 603 for limiting the rotation of the connecting shaft 602 in one direction is fixed on the mounting platform 601;

[0071] It should be noted here that: the one-way limiter 603 on the mounting platform 601 can be used to control the rotation of the connecting shaft 602 and limit the one-way rotation.

[0072] In this scheme: a combined tendon-driven robot movable joint comprises the following steps:

[0073] When the combined tendon-driven robot movable joint is in use, the swing position and swing angle of the movable joint plate 103 are controlled by multiple pulling components on both sides of the movable joint plate 103. During the operation, the pulling component adjusts the pulling of the movable joint plate 103 by cooperating with the driving component, the power transmission switch control component, the driving component and the one-way brake switch control component. The control process can be mainly divided into the following forms:

[0074] Ⅰ. Single combined tendon rope control method:

[0075] 1. When the one-way brake switch control element second electromagnetic clutch 12 is closed,

[0076] a. The first electromagnetic clutch 8 of the power transmission switch control is turned on for a certain period of time, and the pulling force is transmitted to the movable joint plate 103 along the pulling component. In this case:

[0077] a) When the ipsilateral pulling force is smaller than the contralateral antagonistic force, the motion joint plate 103 does not move, the elastic component is pulled, and the kinetic energy is converted into elastic potential energy and stored. At this time, the power transmission exhibits flexibility, buffering, and deceleration.

[0078] b) When the ipsilateral pulling force is greater than the contralateral antagonistic force, the dynamic joint plate 103 performs passive movement in accordance with the force difference gradient.

[0079] 2. When the second electromagnetic clutch 12 of the one-way brake switch control element is turned on, a one-way braking force is generated on the combined tendon rope. In this case:

[0080] 1. The first electromagnetic clutch 8 of the power transmission switch control component is closed, and the pulling component is braked in one direction to maintain the pulling force generated by the first electromagnetic clutch 8 of the power transmission switch control component on the movable joint plate 103 before it is opened, and the elastic component maintains the elastic potential energy previously stored;

[0081] 2. The first electromagnetic clutch 8 of the power transmission switch control component is turned on again for a certain period of time, and the pulling component increases the pulling force generated on the movable joint plate 103. In this case:

[0082] ① When the pulling force of the ipsilateral pulling movable joint plate 103 is greater than the antagonistic force of the contralateral side, the movable joint plate 103 is pulled to move.

[0083] ② When the pulling force of the ipsilateral pulling movable joint plate 103 is less than or equal to the antagonistic force of the opposite side, the elastic component is gradually stretched, and before reaching the level restricted by the hard rope 304, the elastic potential energy is stored, and the tendon rope transmission mode exhibits flexibility, cushioning, and deceleration.

[0084] ③ As the power transmission switch control component is turned on for a long time, the elastic component is continuously stretched, and the pulling force generated by the pulling component on the movable joint plate 103 is continuously increased. When the elasticity of the elastic component is limited to the maximum extent by the hard rope 304, the elastic potential energy storage is maximum, and the power transmission of the combined tendon rope is replaced by the hard rope 304, presenting a hard and rigid transmission mode.

[0085] Ⅱ. Basic adjustment method of multiple combined tendon ropes to control joint movement:

[0086] By different combinations of opening, closing and opening duration of the control parts, each combined tendon rope is controlled to increase, decrease, store and release kinetic energy during the process of transmitting kinetic energy. The pulling kinetic energy and other external forces act together on the control joint to produce the effect of force superposition and time superposition, thereby adjusting the movement state of the joints controlled by multiple combined tendon ropes.

[0087] 1. Multiple combined tendon ropes control the static state of different stiffness degrees of joint movement:

[0088] When the sum of the corresponding antagonistic forces on both sides of the movable joint plate 103 is the same, the forces on both sides of the movable joint plate 103 are balanced, and the movable joint plate 103 remains in a static state. At this time, the one-way brake switch control components on both sides of the movable joint plate 103 are continuously turned on, and each maintains the one-way braking effect of the combined tendon rope under its jurisdiction. According to the different elastic potential energy stored in the elastic component at this time, the movable joint plate 103 presents a static state with different degrees of stiffness. The greater the stored elastic potential energy, the greater the degree of stiffness.

[0089] 2. The acceleration and deceleration adjustment method of multiple combined tendon ropes to control joint movement:

[0090] 1. Turning on the power transmission switch control component on one side for a period of time can generate a pulling force on the same side of the movable joint plate 103, and a certain pulling acceleration on the same side can be generated during this period of time; at this time, for the reverse movement to the opposite side of the movable joint plate 103, a certain antagonistic deceleration is generated.

[0091] 2. When the elastic component stores a certain amount of elastic potential energy, the one-way brake switch control component on one side is closed for a certain period of time. During this time, the elastic potential energy stored in the elastic component on this side is released, and the direction of the elastic potential energy release is the opposite side of the active joint plate 103. At this time, relative to the reverse movement on the opposite side of the active joint plate 103, a certain antagonistic acceleration is generated; relative to the pulling direction on the same side of the active joint plate 103, a certain pulling deceleration is generated.

[0092] The movable joint plate 103 is pulled and pulled by a combined tendon rope drive in the above manner. The structure of the entire combined tendon rope driven robot movable joint is relatively simple. Through different combinations of opening, closing and opening duration of the control components, the elastic ring 301, the sliding sleeve 302 and the elastic rope 303 on the elastic component cooperate with each other. During the joint movement, it can effectively buffer the impact force and fatigue stress, reduce the wear and deformation of parts, thereby improving the durability and reliability of the joint, and make the tendon rope have artificial muscle-like functions. The force of kinetic energy transmitted by the tendon rope, the acceleration of movement, the direction of superimposed force, and the duration of force can be adjusted, so that the tendon rope transmission has both flexible buffering, deceleration, and acceleration effects, and hard and rigid transmission effects, thereby increasing the motion control mode of the robot mechanical joint.

[0093] The entire pulling process mainly involves driving the transmission shaft 702 to rotate through the driving motor 9. The driving transmission shaft 702 can continue to extend to multiple combined tendon ropes, so that the multiple combined tendon ropes use a common power source driving motor 9. During the rotation of the transmission shaft 702, the transmission action of the transmission component drives the transmission shaft 702 on each group of driving components on the same side to rotate. During the rotation of the transmission shaft 702, when it is necessary to control the pulling force on the pulling component at the corresponding position, the first electromagnetic clutch 8 at the corresponding position is started. During the starting process, the gear ring 704 on the outer side of the second rotating roller 703 is driven to rotate. During the rotation of the gear ring 704, the gear ring 704 and the gear 705 are meshed with each other to drive the first rotating roller 402 to rotate. During the rotation of the first rotating roller 402, the second pull rope 202 is wound and pulled by the winding wheel 403. In the process of winding and pulling the second pull rope 202, through the connection effect, the elastic rope 303 and the elastic ring 301 are deformed and the elastic force on the first pull rope 201 is increased, further increasing the traction force on the movable joint plate 103 to achieve the adjustment of the tension. When the tension increases to the specified requirement and the traction force is maintained, the first electromagnetic clutch 8 is closed and the one-way limiter 603 is started. Through the limiting effect of the one-way limiter 603 on the connecting shaft 602 and the connecting effect of the first rotating roller 402, the winding wheel 403 maintains the winding state of the second pull rope 202. When there is no need to pull the movable joint plate 103, the first electromagnetic clutch 8 is kept closed and the one-way limiter 603 is closed. At this time, the second pull rope 202 is released outward under the elastic force of the elastic component, so that the entire transmission is in a relaxed state, and the pulling on the movable joint plate 103 is released.

[0094] During the entire transmission process, the following effects are achieved through the cooperation of the pulling components:

[0095] 1. Breakthrough Robot Compliant Devices Do Not Have the Ability to Control “Force Transmission”:

[0096] The tendon rope function formed by the elastic component has the functions of storing, releasing, amplifying and reducing the transmitted power, making the tendon rope have the function of artificial muscle, which can adjust the force of transmitted kinetic energy, movement acceleration, superimposed force direction, and force duration, and make the tendon rope transmission have both flexible buffering, deceleration and acceleration effects, and hard and rigid transmission effects;

[0097] 2. Break through the contradiction between high rigidity and high flexibility of robots:

[0098] The tendon transmission structure with variable stiffness and the quasi-neural network control mode can realize the dynamic adjustment of stiffness and flexibility, so that the robot itself can produce a reaction action to the force and perform flexible contact operation with any force with high mechanical stiffness;

[0099] 3. Breakthrough in spherical joint motion control technology;

[0100] 4. Break through the limit of under-powered mode, and control all robot joints with a single power source;

[0101] 5. Break through the limitations of robots, which are strong specialization, poor adaptability and limited scope of use:

[0102] It has high load-bearing capacity, high operating accuracy, high stability, and flexible, soft and smooth operation. It can avoid injury, interact with the environment compliantly, reduce the impact of shock loads, improve operational safety, and has a wide range of applicability, including in industrial automation, semiconductor manufacturing; medical surgery, rescue operations, military detection, etc.

[0103] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0104] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A combined tendon-driven robot movable joint, comprising: A robot base (101) and a mounting frame (102) fixed to the upper end of the robot base (101), wherein a movable joint plate (103) is rotatably connected to the mounting frame (102) via a pin shaft (104); It is characterized by further comprising: A plurality of pulling components arranged on both sides of the movable joint plate (103) and used for pulling and traction the movable joint plate (103) to make the movable joint plate (103) move; The pulling assembly includes a first pull rope (201) and a second pull rope (202), one end of the first pull rope (201) is connected and fixed to one side of the movable joint plate (103), and the robot base (101) is provided with a winding assembly for winding the second pull rope (202) and a driving assembly for driving the winding assembly. The winding assembly and the driving assembly are arranged in a one-to-one correspondence, and an elastic assembly for elastic pulling is arranged at the opposite end of the first pull rope (201) and the second pull rope (202).

2. The combined tendon-rope driven robot movable joint according to claim 1, characterized in that: The elastic component comprises an elastic ring (301) fixed to the end of a first pull rope (201), two groups of symmetrically arranged sliding sleeves (302) are fixedly connected to the elastic ring (301), the two groups of sliding sleeves (302) are connected and fixed to the second pull rope (202) via an elastic rope (303), a hard rope (304) for elastic force limitation is arranged between the first pull rope (201) and the second pull rope (202), and a sensor for identifying the sliding distance of the sliding sleeve (302) is arranged on the first pull rope (201).

3. The combined tendon-rope driven robot movable joint according to claim 2, characterized in that: The winding assembly comprises a first support frame (401) fixed to the upper end of the robot base (101); a first rotating roller (402) is rotatably connected to the first support frame (401); a winding wheel (403) is sleeved on the outer side of the first rotating roller (402); the second pull rope (202) is wound on the winding wheel (403); and a traction assembly for guiding the second pull rope (202) during transmission and a one-way limiting assembly for limiting the first rotating roller (402) after rotation are provided on the robot base (101).

4. The combined tendon-rope driven robot movable joint according to claim 3, characterized in that: The driving assembly comprises a second support frame (701) fixed to the upper end of the robot base (101); a transmission shaft (702) is rotatably connected to the second support frame (701); a second rotating roller (703) is fixed to the transmission shaft (702); a driving member for driving the transmission shaft (702) is installed on the robot base (101); a transmission assembly for power transmission is arranged between the transmission shafts (702) of adjacent driving assemblies; a gear ring (704) is sleeved on the outer side of the second rotating roller (703); a gear (705) is fixed to the first rotating roller (402); the gear ring (704) and the gear (705) are meshed with each other; and a power transmission switch control member for controlling the transmission of the gear ring (704) is arranged on the transmission shaft (702).

5. The combined tendon-rope driven robot movable joint according to claim 4, characterized in that: The driving component comprises a driving motor (9) mounted on a robot base (101), and an output end of the driving motor (9) is fixed to one end of a transmission shaft (702).

6. The combined tendon-rope driven robot movable joint according to claim 5, characterized in that: The control component comprises a power transmission switch control component and a one-way brake switch control component. The power transmission switch control component comprises a first electromagnetic clutch (8) mounted on a transmission shaft (702) for controlling transmission and disconnection of a gear ring (704). The one-way brake switch control component comprises a second electromagnetic clutch (12) for controlling transmission and disconnection between a first rotating roller (402) and a winding wheel (403).

7. The combined tendon-rope driven robot movable joint according to claim 4, characterized in that: The transmission assembly comprises a first spline shaft (1001) arranged between the transmission shafts (702) of two adjacent groups of drive assemblies, a second spline shaft (1003) is fixed to one end of the transmission shaft (702), two groups of symmetrically arranged spline sleeves (1002) are connected to the first spline shaft (1001) via a telescopic assembly, and the two groups of spline sleeves (1002) are respectively connected to the second spline shafts (1003) on the two adjacent groups of transmission shafts (702).

8. The combined tendon-rope driven robot movable joint according to claim 8, characterized in that: The telescopic assembly comprises a baffle (1101) centrally fixed on the outside of a first spline shaft (1001); the outside of the first spline shaft (1001) is sleeved with two groups of springs (1102); the two ends of the two groups of springs (1102) are respectively connected to the baffle (1101) and the end of the spline sleeve (1002).

9. The combined tendon-rope driven robot movable joint according to claim 3, characterized in that: The traction assembly comprises a fixing frame (501) fixed to the upper end of the robot base (101), the fixing frame (501) being rotatably connected to two groups of rotating shafts (502), support wheels (503) being fixed to the two groups of rotating shafts (502), and the second pull rope (202) passing through between the two groups of support wheels (503) and being arranged to abut against each other.

10. The combined tendon-rope driven robot movable joint according to claim 3, characterized in that: The one-way limiting assembly comprises a mounting platform (601) fixed to the upper end of the robot base (101); a connecting shaft (602) is fixed in the center of the first rotating roller (402); and a limiting machine (603) for limiting the rotation of the connecting shaft (602) in one direction is fixed on the mounting platform (601).

11. The combined tendon-rope driven robot movable joint according to claim 4, characterized in that: The driving transmission shaft 702 can continue to extend to multiple combined tendon ropes, so that the multiple combined tendon ropes share a power source driving motor 9.

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