A rope-driven joint for a robot

Abstract

The application discloses a kind of rope-driven joints of robot, including upper mounting disc and lower mounting disc, and flexible hinge is arranged in the middle between the upper mounting disc and lower mounting disc, and one side of the upper mounting disc and lower mounting disc is fixedly connected with movable pulley by connecting rod, and the two sides of movable pulley are fixedly connected with auxiliary wheel with the same side of upper mounting disc and lower mounting disc, and the inside of spring reel is provided with spring, pull rope and winding rope shaft, and the spring is fixedly connected with winding rope shaft by pull rope, and the basic principle of pulley and pre-tightening mechanism is utilized to design a basic plane rope-driven joint, which can realize bending movement by controlling the length of two ropes and meet the demand of load capacity, and three-dimensional space bending movement can be realized by cross layout, multiple joints can be combined as a unit for use, and the total number of driving ropes is reduced.

Description

Technical Field

[0001] This invention relates to the technical field of rope-driven robots, specifically to a rope-driven joint for a robot. Background Technology

[0002] In situations such as search and rescue during earthquakes and exploration in confined spaces like airplanes and pipelines, there is an increasing demand for snake-like robots and elephant-trunk robots that can adapt to complex spatial environments. Many complex terrains require the use of rope-driven joint robots as exploration tools, and joints that can perform extension, contraction, and bending movements in space are important key technologies.

[0003] This patented design is a rope-driven joint that combines the advantages of pulley principles and pre-tensioning mechanisms. The rope-driven joint can achieve bending motion while meeting load capacity requirements by controlling the length of two tethered ropes. Furthermore, through the crisscrossing arrangement of multiple rope-driven joints, the joint can achieve bending motion in three-dimensional space. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a cable-driven joint for robots, solving the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a rope-driven joint for a robot, comprising an upper mounting plate and a lower mounting plate, wherein a flexible hinge is provided at the middle of the upper and lower mounting plates, and a movable pulley is fixedly connected to one side of the upper and lower mounting plates via a connecting rod. Auxiliary wheels are fixedly connected to both sides of the movable pulley and to the same side of the upper and lower mounting plates. A drive housing is provided at the bottom of the lower mounting plate, and a drive wheel is fixedly connected to the bottom of the drive housing. Reversing wheels are fixedly connected to both sides of the drive housing. Spring wheels are provided at the top of both sides of the drive housing. A spring, a pull rope, and a rope-winding shaft are provided inside the spring wheels, and the spring and the rope-winding shaft are fixedly connected by a pull rope.

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

[0007] According to the above technical solution, the shaft of the drive wheel and the mounting plate are designed to be coaxial, which facilitates series assembly.

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

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

[0010] According to the above technical solution, the coil spring set on the coil spring wheel can be replaced with 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 composite joint with specific functions, and a rigid joint is fixed between the two rope-driven joints.

[0012] This invention provides a cable-driven joint for a robot. It offers the following advantages:

[0013] (1) The rope-driven joint designed in this invention utilizes the basic principles of pulleys and pre-tensioning 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 ropes.

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

[0015] (3) The rope-driven joint designed in the invention can be combined into a unit to reduce the total number of driving ropes;

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

[0017] (5) The invention uses the drive wheel axle and the mounting plate to be installed on the same axis to save space, while also facilitating series assembly and standardization. Attached Figure Description

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

[0019] Figure 2 This is a schematic diagram of the single-segment rope-driven joint of the present invention;

[0020] Figure 3 This is a schematic diagram of the cooperation structure between the drive wheel and the reversing wheel of the present invention;

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

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

[0023] Figure 6 This is a schematic diagram of the structure of the first combination of the rope-driven joint of the present invention;

[0024] Figure 7 This is a schematic diagram of the second combination of the rope-driven joint of the present invention;

[0025] Figure 8This is a schematic diagram of the structure of the rope-driven joint assembly three of the present invention;

[0026] Figure 9 This is a schematic diagram of a three-dimensional spatial roping joint according to the present invention;

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

[0028] In the diagram: 1. Upper mounting plate; 2. Rope; 3. Flexible hinge; 4. Lower mounting plate; 5. Movable pulley; 6. Auxiliary wheel; 7. Drive housing; 8. Drive wheel; 9. Reversing wheel; 10. Spring wheel; 11. Spring; 12. Pull rope; 13. Rope winding shaft; 14. Rigid joint. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Please see Figures 1-9 One embodiment of the present invention is as follows: a rope-driven joint for a robot includes an upper mounting plate 1 and a lower mounting plate 4. A flexible hinge 3 is provided at 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 through a connecting rod. Auxiliary wheels 6 are fixedly connected to both sides of the movable pulley 5 on the same side as the upper mounting plate 1 and the lower mounting plate 4. A drive housing 7 is provided at the bottom of the lower mounting plate 4. A drive wheel 8 is fixedly connected to the bottom of the drive housing 7. Reversing wheels 9 are fixedly connected to both sides of the drive housing 7. Spring wheels 10 are provided at the top of both sides of the drive housing 7. A spring 11, a pull rope 12 and a rope winding shaft 13 are provided inside the spring wheel 10. The spring 11 and the rope winding shaft 13 are fixedly connected by the pull rope 12.

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

[0032] The shaft of drive wheel 8 is coaxial with the mounting plate, which facilitates series assembly.

[0033] The preload of the coil spring wheel 10 is equal to the tension of the rope 2. The tension of the rope 2 can be easily adjusted by pre-adjusting the tension of the coil spring 11.

[0034] Rope 2 can be arranged symmetrically or eccentrically.

[0035] To ensure the tension of the rope 2, the coil spring 11 installed on the coil spring wheel 10 can be replaced with an elastic tension rope.

[0036] Rope-driven joints can be connected in parallel or in series to form new, specific composite joints, with a rigid joint 14 connecting and fixing the two rope-driven joints.

[0037] Figure 2 The pivot of the movable pulley 5 is fixed to the upper mounting plate 1. After the rope 2 passes around the movable pulley 5, it pulls the movable pulley 5 to move closer to the lower mounting plate 4. There are two ropes acting on the movable pulley 5, and the force on the ropes is 1 / 2 of the original force.

[0038] Figure 2 The pivot of the 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 closer to the upper mounting plate 1. Two ropes act on the movable pulley, and the force on the ropes is 1 / 2 of the original force.

[0039] Figure 2 As shown, the 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 uniform standard for the rope docking interface on the upper mounting plate 1, which facilitates the assembly of multiple rope drive joints.

[0040] Figure 2 As shown, the axle 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 uniform standard for the rope docking interface on the lower mounting plate 4, which facilitates the assembly of multiple rope drive joints.

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

[0042] Figure 2 As shown, the lower mounting plate 4 is fixedly connected to the drive 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 drive wheel 8. The rope will not overlap after rotating one revolution, thus avoiding the rope from getting tangled together.

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

[0045] Figure 2As shown, if the left rope is pulled, the rope will pull the joint to the left, thus enabling the joint to move. If the left rope is pulled, the rope will pull the joint to the right. The combination of the two reversing wheels can achieve one degree of freedom of bending motion of the joint.

[0046] Figure 2 As shown, the four movable pulleys between the upper and lower mounting plates form a movable pulley combination, which provides one degree of bending motion under the pull of the rope.

[0047] Figure 4 As shown, the release length of the rope on the right is greater than the required length. Under the action of the pre-tension force, the coil spring 11 pulls the rope winding shaft to rotate. The rope tension on the rope winding shaft is equal to the pre-tension force of the coil spring 11.

[0048] Figure 5 As shown in the diagram, a single-degree-of-freedom joint bending is formed by four movable pulleys between the upper mounting plate 1 and the lower mounting plate 4. When the drive wheel 8 pulls the rope to the right, the joint bends.

[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 motion.

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

[0052] Figure 9 As shown, a schematic diagram of a three-dimensional spatial cable-driven joint is given. In the cross arrangement of two single-degree-of-freedom joints, each joint can realize bending motion independently. At the same time, the bending motion of the two single-degree-of-freedom joints can be superimposed to realize three-dimensional spatial bending motion.

[0053] Figure 10 The diagram shows a layout schematic of a 2-DOF drive shaft. The coaxial design of the two drive wheels reduces the layout space. The two sets of directional wheels, installed in a cross configuration, provide rope tension for both degrees of freedom and drive the shaft. Figure 9 The joint shown enables bending motion in any direction in three-dimensional space.

[0054] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A cable-driven joint for a robot, comprising an upper mounting plate (1) and a lower mounting plate (4), characterized in that: A flexible hinge (3) is provided at the middle of the upper mounting plate (1) and the lower mounting plate (4); four symmetrically arranged movable pulleys (5) are provided between the upper mounting plate (1) and the lower mounting plate (4) to form a movable pulley assembly, which provides one degree of freedom of bending motion under the pull of the rope (2); two auxiliary wheels (6) are fixedly connected to the lower side of the upper mounting plate (1) and the upper side of the lower mounting plate (4), and the auxiliary wheels (6) are located on both sides of the movable pulley assembly. The auxiliary wheels (6) are used to adjust the direction of the rope (2) moving relative to the upper mounting plate (1) or the lower mounting plate (4) to form a unified standard for rope docking interface on the upper mounting plate (1) and the lower mounting plate (4); a drive housing (7) is provided at the bottom of the lower mounting plate (4), and the lower mounting plate (4) and the drive housing (7) Fixed connection; a drive wheel (8) is fixedly connected to the bottom of the drive housing (7), and a reversing wheel (9) is fixedly connected to both sides of the drive housing (7). The reversing wheel (9) is used to limit the position of the rope (2) moving relative to the drive housing (7) so as to form a uniform standard for rope docking interface on the drive housing (7); a coil spring wheel (10) is provided at the top of both sides of the drive housing (7). The coil spring wheel (10) is provided with a coil spring (11), a pull rope (12) and a rope winding shaft (13) inside. The coil spring (11) and the rope winding shaft (13) are fixedly connected by the pull rope (12). The coil spring (11) pulls the rope winding shaft (13) to rotate under the action of the pre-tension force so that the tension of the rope (2) wound on the rope winding shaft (13) is equal to the pre-tension force of the coil spring (11).

2. The cable-driven joint of a robot according to claim 1, characterized in that: The shaft of the drive wheel (8) is coaxial with the mounting plate, which facilitates series assembly.

3. The cable-driven joint of a robot according to claim 1, characterized in that: The tension of the rope (2) is adjusted by pre-adjusting the tension of the coil spring (11).

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