Rope-driven joint of robot

Abstract

The rope-driven joint of the robot comprises an upper mounting disc and a lower mounting disc, a flexible hinge is connected to the middle of the position between the upper mounting disc and the lower mounting disc, and movable pulleys are fixedly connected to one side of the upper mounting disc and one side of the lower mounting disc through connecting rods; auxiliary wheels are fixedly connected to the two sides of the movable pulley and the same side of the upper mounting disc and the lower mounting disc, a coil spring, a pull rope and a rope winding shaft are arranged in a coil spring wheel, and the coil spring and the rope winding shaft are fixedly connected through the pull rope. A basic plane rope-driven joint is designed, bending movement can be achieved through length control of two ropes, meanwhile, the requirement for load capacity is met, three-dimensional space bending movement can be achieved through cross layout, a plurality of joints can be combined into a unit to be used, and the total number of the driving ropes is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of rope-driven robots, in particular to a rope-driven joint of a robot. Background Art

[0002] In conditions such as search and rescue of personnel during earthquake disasters, and exploration of narrow spaces such as airplanes and pipelines, there is an increasing demand for snake-like robots and elephant-trunk robots that can adapt to complex space environments. Robots with rope-driven joints must be used as exploration tools for many complex terrains, and joints that can perform telescopic and bending movements in space are an important key technology.

[0003] This patented design is a rope-driven joint that combines the advantages of the pulley principle and the preload mechanism. The rope-driven joint can achieve bending motion while meeting the load capacity requirements by controlling the length of two tethers. At the same time, through the cross arrangement of multiple rope-driven joints, the rope-driven joint can achieve bending motion in three-dimensional space. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides a rope-driven joint of a robot, which solves the problems raised in the above-mentioned background technology.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a rope-driven joint of a robot, comprising an upper mounting plate and a lower mounting plate, a flexible hinge being connected in the middle between the upper mounting plate and the lower mounting plate, a movable pulley being fixedly connected to one side of the upper mounting plate and the lower mounting plate through a connecting rod, auxiliary wheels being fixedly connected to the same sides of the movable pulley as the upper mounting plate and the lower mounting plate, a driving shell being provided at the bottom of the lower mounting plate, a driving wheel being fixedly connected to the bottom end of the driving shell, reversing wheels being fixedly connected to the two sides of the driving shell, winding spring wheels being provided at the top ends of the two sides of the driving shell, a winding spring, a pull rope and a rope winding shaft being provided inside the winding spring wheel, and the winding spring and the rope winding shaft being fixedly connected through a pull rope.

[0006] According to the above technical solution, the movable pulleys are arranged symmetrically, and a bending change of ±90° can be achieved by adjusting the rope length.

[0007] According to the above technical solution, the shaft of the driving wheel and the mounting plate are coaxially designed to facilitate serial assembly.

[0008] According to the above technical solution, the pre-tightening force of the coil spring wheel is equal to the tension of the rope, and the tension of the rope can be conveniently adjusted by pre-adjusting the tension of the coil spring.

[0009] According to the above technical solution, the ropes can be arranged symmetrically or eccentrically.

[0010] According to the above technical solution, the coil spring arranged on the coil spring wheel can be replaced by an elastic tension rope to ensure the tension of the rope.

[0011] According to the above technical solution, the rope-driven joints can be connected in parallel or in series to form a new joint with specific composite functions, and a rigid joint is connected and fixed between the two rope-driven joints.

[0012] The present invention provides a rope-driven joint of a robot, which has the following beneficial effects:

[0013] (1) The rope-driven joint designed in the present invention utilizes the basic principles of pulleys and preload mechanisms to design a basic planar rope-driven joint, which can achieve bending motion while meeting the load capacity requirements by controlling the length of two tethers;

[0014] (2) The rope-driven joint designed in the invention can achieve three-dimensional bending movement through a cross layout.

[0015] (3) The rope-driven joint designed in the invention can be used by combining multiple joints into one unit, thus reducing the total number of driving tethers;

[0016] (4) The movable pulley structure of the invention can reduce the rope tension by 2 / 3;

[0017] (5) The invention adopts the coaxial installation of the driving wheel shaft and the mounting plate to save space and facilitate serial assembly and standardization. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the rope-driven robot of the present invention;

[0019] Figure 2 It is a structural schematic diagram of a single-section rope-driven joint of the present invention;

[0020] Figure 3 It is a schematic diagram of the matching structure of the driving wheel and the reversing wheel of the present invention;

[0021] Figure 4 It is a schematic diagram of the internal structure of the coil spring wheel of the present invention;

[0022] Figure 5 It is a structural schematic diagram of a single-section rope-driven joint bending state of the present invention;

[0023] Figure 6 It is a structural schematic diagram of a combination 1 of the rope-driven joint of the present invention;

[0024] Figure 7 It is a structural schematic diagram of the combination 2 of the rope-driven joint of the present invention;

[0025] Figure 8It is a structural schematic diagram of the combination 3 of the rope-driven joint of the present invention;

[0026] Fig. 9 This is a schematic diagram of a three-dimensional space rope-driven joint of the present invention;

[0027] Fig.10 It is a schematic diagram of the layout of the 2-DOF drive shaft of the present invention.

[0028] In the figure: 1, upper mounting plate; 2, rope; 3, flexible hinge; 4, lower mounting plate; 5, movable pulley; 6, auxiliary wheel; 7, driving housing; 8, driving wheel; 9, reversing wheel; 10, winding spring wheel; 11, winding spring; 12, pull rope; 13, rope winding shaft; 14, rigid joint. DETAILED DESCRIPTION

[0029] 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.

[0030] See also Figure 1-Figure 9 One embodiment of the present invention is: a rope-driven joint of a robot, comprising an upper mounting plate 1 and a lower mounting plate 4, a flexible hinge 3 is connected and arranged in the middle between the upper mounting plate 1 and the lower mounting plate 4, a movable pulley 5 is fixedly connected to one side of the upper mounting plate 1 and the lower mounting plate 4 through a connecting rod, and auxiliary wheels 6 are fixedly connected to the same side of the movable pulley 5 as the upper mounting plate 1 and the lower mounting plate 4, a driving shell 7 is arranged at the bottom of the lower mounting plate 4, a driving wheel 8 is fixedly connected to the bottom end of the driving shell 7, and reversing wheels 9 are fixedly connected to the two sides of the driving shell 7, and spring wheels 10 are arranged at the top of both sides of the driving shell 7, and a coil spring 11, a pull rope 12 and a rope winding shaft 13 are arranged inside the coil spring wheel 10, and the coil spring 11 and the rope winding shaft 13 are fixedly connected by the pull rope 12.

[0031] The movable pulleys 5 are arranged symmetrically, and can achieve a bending change of ±90° by adjusting the rope length.

[0032] The shaft of the driving wheel 8 and the mounting plate are coaxially designed to facilitate serial assembly.

[0033] The pre-tightening force of the coil spring wheel 10 is equal to the tension of the rope 2 , and the tension of the rope 2 can be conveniently adjusted by pre-adjusting the tension of the coil spring 11 .

[0034] The rope 2 can be arranged symmetrically or eccentrically.

[0035] The coil spring 11 disposed on the coil spring wheel 10 is used to ensure the tension of the rope 2, and an elastic tension rope can be used as a replacement.

[0036] The rope-driven joints can be connected in parallel or in series to form a new joint with specific composite functions. A rigid joint 14 is connected and fixed between the two rope-driven joints.

[0037] Figure 2 The rotating shaft of the middle movable pulley 5 is fixed to the upper mounting plate 1. The rope 2 passes around the movable pulley 5 and pulls the movable pulley 5 to move relatively close to the lower mounting plate 4. Two ropes act on the movable pulley 5, and the force on the rope is 1 / 2 of the original.

[0038] Figure 2 The rotating shaft of the middle movable pulley 5 is fixed to the lower mounting plate 4. After the rope passes around the movable pulley 5, it pulls the movable pulley 5 to move relatively close to the upper mounting plate 1. Two ropes act on the movable pulley, and the force on the rope is 1 / 2 of the original.

[0039] Figure 2 As shown, the rotating shaft of the auxiliary wheel 6 is fixed to the upper mounting plate 1, and rotates with low friction relative to the upper mounting plate 1. The auxiliary wheel 6 can adjust the direction of the rope moving relative to the upper mounting plate 1, forming a unified standard of the rope docking interface on the upper mounting plate 1, which is convenient for assembling multiple rope drive joints.

[0040] Figure 2 As shown, the rotating shaft of the auxiliary wheel 6 is fixed to the lower mounting plate 4, and rotates with low friction relative to the lower mounting plate 4. The auxiliary wheel 6 can adjust the position of the rope moving relative to the lower mounting plate 4, forming a unified standard of the rope docking interface on the lower mounting plate 4, which is convenient for the assembly of multiple rope drive joints.

[0041] Figure 2 As shown, the rotating shaft of the reversing wheel 9 is fixed to the driving housing 7. The reversing wheel 9 limits the position of the rope moving relative to the driving housing 7, forming a unified standard of the rope docking interface on the driving housing 7, which is convenient for use in combination with a rope drive joint.

[0042] Figure 2 As shown, the lower mounting plate 4 is fixedly connected to the driving housing 7 to ensure that the positional relationship between the rope and the structure is determined.

[0043] Figure 2 As shown, one end of the rope passing through the reversing wheel 9 is fixed to the side of the driving wheel 8, and the ropes will not overlap after one rotation, so as to avoid the ropes being entangled.

[0044] Figure 3 As shown, the ropes on the left reversing wheel 9 and the right reversing wheel 9 are on the same side of the driving wheel 8. When the driving wheel 8 rotates clockwise, the left rope is wound onto the driving wheel 8, and the right rope is released from the driving wheel 8.

[0045] Figure 2As shown, if the left rope is pulled, the rope will pull the joint to deflect to the left, realizing the movement of the joint. If the left rope is pulled, the rope will pull the joint to deflect to the right. The combination of two reversing wheels can realize the bending movement of one degree of freedom of the joint.

[0046] Figure 2 As shown, the four movable pulleys between the upper mounting plate and the lower mounting plate constitute a movable pulley assembly, which provides a bending motion with one degree of freedom under the pulling action of the rope.

[0047] Figure 4 As shown, the released length of the right rope is greater than the required length, and the coil spring 11 pulls the rope winding shaft to rotate under the action of the preload force, and the rope tension of the rope wound around the rope winding shaft is equal to the preload force of the coil spring 11.

[0048] Figure 5 As shown, a schematic diagram of single-degree-of-freedom joint bending, a combination of four movable pulleys between the upper mounting plate 1 and the lower mounting plate 4, and the joint bending when the driving wheel 8 pulls the rope to move to the right.

[0049] Figure 6 As shown, an application example is given, in which two rope-driven joints are fixedly connected, and the bending angle is doubled after the joints are combined.

[0050] Figure 7 As shown, an application example is given, in which two rope-driven joints are fixedly connected by a rigid joint 14, which extends the total length of the joint and can expand the area covered by the bending movement.

[0051] Figure 8 As shown, an application example is given, in which two rope-driven joints are connected to a driving disk in the middle. By adding two additional auxiliary wheels, bilateral unidirectional movement can be achieved, thereby realizing functions such as grasping.

[0052] Fig. 9 As shown, a schematic diagram of a three-dimensional rope-driven joint is given. In the cross layout of two single-degree-of-freedom joints, each joint can realize bending motion independently. At the same time, the superposition of the bending motion of the two single-degree-of-freedom joints can realize three-dimensional bending motion.

[0053] Fig.10 As shown in the figure, a schematic diagram of the layout of a 2-DOF drive shaft is given. The coaxial design of the two drive wheels reduces the layout space; the cross-installation of the two sets of reversing wheels can provide a 2-DOF rope pulling effect and drive Fig. 9 The joints shown realize bending motion in any direction in three-dimensional space.

[0054] 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 cable-driven joint of a robot, comprising an upper mounting plate (1) and a lower mounting plate (4), characterized in that: A flexible hinge (3) is provided in the middle of the upper mounting plate (1) and the lower mounting plate (4); a movable pulley (5) is fixedly connected to one side of the upper mounting plate (1) and the lower mounting plate (4) via a connecting rod; auxiliary wheels (6) are fixedly connected to the same sides of the movable pulley (5) as the upper mounting plate (1) and the lower mounting plate (4); a driving housing (7) is provided at the bottom of the lower mounting plate (4); a driving wheel (8) is fixedly connected to the bottom end of the driving housing (7); reversing wheels (9) are fixedly connected to the two sides of the driving housing (7); spring wheels (10) are provided at the top ends of the two sides of the driving housing (7); a coil spring (11), a pull rope (12) and a rope winding shaft (13) are provided inside the coil spring wheel (10); the coil spring (11) and the rope winding shaft (13) are fixedly connected via the pull rope (12).

2. A robot cable-driven joint according to claim 1, characterized in that: The movable pulleys (5) are arranged symmetrically and can achieve a bending change of ±90° by adjusting the rope length.

3. The cable-driven joint of a robot according to claim 1, characterized in that: The shaft of the driving wheel (8) and the mounting plate are coaxially designed to facilitate serial assembly.

4. The cable-driven joint of a robot according to claim 1, characterized in that: The pre-tightening force of the coil spring wheel (10) is equal to the tension of the rope (2), and the tension of the rope (2) can be conveniently adjusted by pre-adjusting the pulling force of the coil spring (11).

5. The cable-driven joint of a robot according to claim 1, characterized in that: The rope (2) may be arranged symmetrically or eccentrically.

6. The cable-driven joint of a robot according to claim 1, characterized in that: The coil spring (11) arranged on the coil spring wheel (10) can be replaced by an elastic tension rope to ensure the tension of the rope (2).

7. The cable-driven joint of a robot according to claim 1, characterized in that: The rope-driven joints can be connected in parallel or in series to form a new joint with specific composite functions. A rigid joint (14) is connected and fixed between the two rope-driven joints.

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