Transmission device of rope-driven robot

Abstract

The invention belongs to the technical field of transmission equipment, particularly relates to a transmission device of a rope-driven robot, and aims to solve the problems that an existing transmission device is difficult to ensure continuous tensioning of a driving rope and is difficult to meet working requirements under the condition that the length of the driving rope is limited. The base is fixedly connected with the outer shell through connecting bolts, the first limiting plate is fixedly connected into the outer shell through welding, the base and the outer shell are both connected with the first bearing and the second bearing, and four winding ropes are arranged to be matched with two sets of adjusting mechanisms for use, so that in the forward rotation and reverse rotation process of the power mechanism, the power mechanism can rotate more stably. According to the device, continuous tensioning of the driving rope is guaranteed, meanwhile, under the condition that the length of the driving rope is limited, the transmission ratio of a power mechanism to an executing mechanism is larger, and multiple sets of devices can be conveniently and rapidly overlapped and linked so as to obtain the larger transmission ratio.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission equipment, and in particular to a transmission device for a cable-driven robot. Background Art

[0002] A cable-driven robot is a new type of robot. Under the same load and motion angle conditions as a collaborative robot, it can achieve a larger motion range, a faster motion speed, a lighter self-weight, and lower power consumption. The advantage of a cable-driven robot is that its transmission accuracy is only affected by the pre-tension force and elastic modulus of the steel wire rope (or fiber rope), and there is no backlash.

[0003] The transmission device of a cable-driven robot can transmit the motion and power of the power mechanism to the execution mechanism. Some existing transmission devices of cable-driven robots have some problems in the use process: First, it is difficult for the existing transmission device to ensure the continuous tension of the driving rope; Second, for a precision execution mechanism that needs to perform small-angle rotation, it is necessary to make the transmission ratio of the power mechanism and the execution mechanism as large as possible. The existing transmission device is difficult to meet the working requirements when the length of the driving rope is limited. Therefore, a transmission device for a cable-driven robot is proposed to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to propose a transmission device for a cable-driven robot to solve the disadvantages in the prior art that the transmission device is difficult to ensure the continuous tension of the driving rope and is difficult to meet the working requirements when the length of the driving rope is limited.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solution:

[0006] A transmission device for a cable-driven robot, which is used between the power mechanism and the execution mechanism of the cable-driven robot for power transmission, includes a base and connecting bolts. The base is fixedly connected to the outer housing through the connecting bolts. The inner part of the outer housing is fixedly connected to the first limiting plate by welding. Both the base and the outer housing are connected to the first bearing and the second bearing, and their outer rings are respectively fixedly connected to the corresponding base and outer housing. The inner rings of the two first bearings are fixedly connected to the first rotating shaft, and the inner rings of the two second bearings are fixedly connected to the second rotating shaft. The outer wall of the first rotating shaft located below is sleeved with the first transmission shaft, the outer wall of the second rotating shaft located below is fixedly sleeved with the second transmission shaft, the outer wall of the second rotating shaft located above is fixedly sleeved with the third transmission shaft, and the bottom of the first rotating shaft located above is fixedly sleeved with the fourth transmission shaft. The outer walls of the fourth transmission shaft and the third transmission shaft are connected with the third rope and the fourth rope, and the outer walls of the second transmission shaft and the first transmission shaft are connected with the second rope and the first rope;

[0007] Two first rotating shafts and two second rotating shafts form multi-point output and input for simultaneously delivering power to multiple different components;

[0008] Two sets of adjusting mechanisms are arranged inside the housing for adjusting the tension of the four ropes. It consists of a manual adjusting component and an automatic adjusting component.

[0009] In a possible design, a first limiting sleeve is fixedly sleeved in the middle of the outer wall of the first transmission shaft, second limiting sleeves are fixedly sleeved on the outer walls at both ends of the second transmission shaft, a third limiting sleeve is fixedly sleeved in the middle of the outer wall of the third transmission shaft, and fourth limiting sleeves are fixedly sleeved on the outer walls at both ends of the fourth transmission shaft. One end of the first rope is fixedly connected to the bottom of the first limiting sleeve, and the other end of the first rope is fixedly connected to the top of the second limiting sleeve located below. One end of the second rope is fixedly connected to the top of the first limiting sleeve, and the other end of the second rope is fixedly connected to the bottom of the second limiting sleeve located above. One end of the third rope is fixedly connected to the bottom of the third limiting sleeve, and the other end of the third rope is fixedly connected to the top of the fourth limiting sleeve located on the lower side. One end of the fourth rope is fixedly connected to the top of the third limiting sleeve, and the other end of the fourth rope is fixedly connected to the bottom of the fourth limiting sleeve located on the upper side.

[0010] In a possible design, a third bearing and a fourth bearing are embedded in the first limiting plate. The outer ring of the third bearing is fixedly connected to the first limiting plate, and the inner ring is fixedly connected to the third rotating shaft. The two ends of the third rotating shaft are respectively fixedly connected to two second rotating shafts to form a support. There are two fourth bearings. The outer rings of them are fixedly connected to the first limiting plate, and the inner rings are both fixedly connected to the fourth rotating shafts. The two fourth rotating shafts are respectively fixedly connected to the two first rotating shafts.

[0011] In a possible design, the manual adjusting component penetrates and is fixedly arranged on a sleeve rod on one side of the housing. The sleeve rod corresponds to the rope. A plug is fixedly connected to the outer end of the sleeve rod through threads. A hollow rod is threaded through one side of the plug. A sliding plate is rotatably arranged at one end of the hollow rod. The sliding plate is slidably arranged in the sleeve rod through a keyway and a key. An adjusting rod is slidably arranged through one side of the sleeve rod. One end of the adjusting rod is connected to the sliding plate. The adjusting rod is driven to move in the sleeve rod by the threaded relationship between the hollow rod and the plug. A guiding ring is fixedly arranged at the outer end of the adjusting rod. The rope is located in the corresponding guiding ring.

[0012] In a possible design, the automatic adjustment component includes a plurality of guide rods fixedly arranged through one side of the sliding plate. One end of each of the plurality of guide rods is fixedly provided with the same positioning plate. The adjusting rod is slidably arranged in the positioning plate and one end thereof abuts against the positioning plate. The outer walls of the plurality of guide rods are slidably sleeved with the same second limiting plate. A screw rod is internally threaded in the hollow rod. One end of the screw rod is rotatably connected to the second limiting plate through a bearing. A tension spring is arranged in the sleeve rod. Two ends of the tension spring are respectively fixedly connected to the mutually approaching sides of the adjusting rod and the second limiting plate. A limiting member for cooperating with the adjusting rod is arranged inside the guide rod to prevent the adjusting rod from moving reversely and resetting between the plurality of guide rods.

[0013] In a possible design, the limiting member includes a plurality of wedge blocks slidably arranged through the guide rods. A sliding rod is slidably arranged inside the wedge block. The sliding rod is fixedly arranged inside the guide rod. A spring is sleeved on the outer wall of the sliding rod. Two ends of the spring are respectively fixedly connected to the inner wall of the guide rod and the top of the wedge block. A positioning hole corresponding to the guide rod is formed in the outer wall of the large end of the adjusting rod, and the positioning hole is adapted to the wedge block.

[0014] In a possible design, the plurality of positioning holes are arranged in a spiral shape, and always one wedge block is located inside the positioning hole.

[0015] In the present invention, for the transmission device of a cable-driven robot, by arranging two sets of adjustment mechanisms, which are respectively composed of a manual adjustment component and an automatic adjustment component, the tension of four ropes can be adjusted. The manual adjustment component adjusts the tension of the ropes by adjusting the positions of the adjusting rod and the guide ring, which is convenient for manual adjustment during debugging and installation. While the automatic adjustment component, through the design of the tension spring and the positioning plate, can automatically tension the ropes. When the ropes are slack, the tension spring can pull the adjusting rod to move and tighten the ropes through the guide ring, ensuring the stability and reliability of the transmission process;

[0016] In the present invention, for the transmission device of a cable-driven robot, through the design of the limiting member in the automatic adjustment component, including components such as wedge blocks, sliding rods and springs, it can prevent the adjusting rod from moving reversely and resetting, maintaining the stable positional relationship of the adjusting rod during movement. And the plurality of positioning holes are arranged in a spiral shape, and always one wedge block is located inside the positioning hole, further enhancing the stability and reliability of the adjustment mechanism;

[0017] In the present invention, by arranging four rope winding mechanisms in cooperation with two sets of adjusting mechanisms, it can ensure that the driving rope remains continuously tensioned during both the forward and reverse rotations of the power mechanism. At the same time, when the length of the driving rope is limited, it can make the transmission ratio between the power mechanism and the actuator larger, and can conveniently and quickly stack and link multiple sets of this device to obtain a larger transmission ratio, enabling the precision actuator that needs to perform small-angle rotation to have higher precision and smaller error. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. 6 is a three-dimensional structural schematic diagram of a transmission device of a cable-driven robot proposed by the present invention;

[0019] Figure 2 FIG. 10 is a three-dimensional sectional structural schematic diagram of a transmission device of a cable-driven robot proposed by the present invention;

[0020] Figure 3 FIG. 14 is a sectional structural schematic diagram of the housing of a transmission device of a cable-driven robot proposed by the present invention;

[0021] Figure 4 FIG. 18 is an internal exploded structural schematic diagram of a transmission device of a cable-driven robot proposed by the present invention;

[0022] Figure 5 FIG. 22 is a sectional structural schematic diagram of the transmission shaft of a transmission device of a cable-driven robot proposed by the present invention;

[0023] Figure 6 FIG. 26 is a structural schematic diagram of the third transmission shaft of a transmission device of a cable-driven robot proposed by the present invention;

[0024] Figure 7 FIG. 30 is a structural schematic diagram of the first transmission shaft of a transmission device of a cable-driven robot proposed by the present invention;

[0025] Figure 8 FIG. 34 is a structural schematic diagram of the sleeve rod installation of a transmission device of a cable-driven robot proposed by the present invention;

[0026] Figure 9 FIG. 38 is a sectional structural schematic diagram of the sleeve rod of a transmission device of a cable-driven robot proposed by the present invention;

[0027] Figure 10 FIG. 42 is a structural schematic diagram of the guide rod and the wedge block of a transmission device of a cable-driven robot proposed by the present invention;

[0028] Figure 11 FIG. 46 is a structural schematic diagram of the wedge block and the sliding rod of a transmission device of a cable-driven robot proposed by the present invention.

[0029] Figure 12 FIG. 50 is a structural schematic diagram of the adjusting rod of a transmission device of a cable-driven robot proposed by the present invention;

[0030] In the figure: 1, base; 2, connecting bolt; 3, outer shell; 4, first limiting plate; 5, first bearing; 6, second bearing; 7, first rotating shaft; 8, second rotating shaft; 9, first transmission shaft; 10, second transmission shaft; 11, third transmission shaft; 12, fourth transmission shaft; 13, first limiting sleeve; 14, second limiting sleeve; 15, third limiting sleeve; 16, fourth limiting sleeve; 17, first rope winding; 18, second rope winding; 19, third rope winding; 20, fourth rope winding; 21, third bearing; 22, third rotating shaft; 23, fourth bearing; 24, fourth rotating shaft; 25, sleeve rod; 26, adjusting rod; 27, guiding ring; 28, blocking block; 29, hollow rod; 30, sliding plate; 31, positioning plate; 32, screw rod; 33, guiding rod; 34, second limiting plate; 35, tension spring; 37, spring; 38, wedge block; 39, positioning hole; 40, sliding rod. Specific implementation mode

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0032] Embodiment 1

[0033] In the field of cable-driven robots, the transmission device is a key component to realize the actions and functions of the robot. The traditional cable-driven robot transmission device often faces problems such as insufficient structural stability, low power transmission efficiency, and difficulty in adjusting the tension of the wound rope. These problems not only affect the motion accuracy and stability of the robot, but also limit the application range and performance of the robot. Due to these problems, this solution designs a transmission device.

[0034] Refer to Figures 1-12 , a transmission device, comprising: a base 1 and a connecting bolt 2. The base 1 is firmly fixedly connected to the outer shell 3 through the connecting bolt 2, ensuring the stability of the entire structure. Inside the outer shell 3, the first limiting plate 4 is fixedly connected by welding, further enhancing the structural stability.

[0035] Both the base 1 and the outer shell 3 are connected with a first bearing 5 and a second bearing 6. The outer rings of these bearings are respectively fixedly connected to the corresponding base 1 and outer shell 3, and the inner rings of the two first bearings 5 are both press-fitted with the first rotating shaft 7, and the inner rings of the two second bearings 6 are both press-fitted with the second rotating shaft 8. Such a design enables the rotating shaft to rotate smoothly in the bearing while maintaining the structural stability, providing rotational support for the first rotating shaft 7 and the second rotating shaft 8.

[0036] The outer wall of the first rotating shaft 7 located below is sleeved with a first transmission shaft 9, and the outer wall of the second rotating shaft 8 located below is fixedly sleeved with a second transmission shaft 10. Similarly, the outer wall of the second rotating shaft 8 located above is fixedly sleeved with a third transmission shaft 11, and the bottom of the first rotating shaft 7 located above is fixedly sleeved with a fourth transmission shaft 12. Such a setting realizes multi-point input and output of power, enabling the transmission device to simultaneously transmit power to multiple different components.

[0037] The outer walls of the fourth transmission shaft 12 and the third transmission shaft 11 are connected with a third rope 19 and a fourth rope 20, while the outer walls of the second transmission shaft 10 and the first transmission shaft 9 are connected with a second rope 18 and a first rope 17. These ropes are used to transmit power and can maintain a stable tension in the transmission device. The ropes are made of steel wire ropes or Dyneema fibers.

[0038] In addition, the transmission device is also provided with two groups of adjusting mechanisms, which are arranged in the outer housing 3 and used to adjust the tension of the four ropes. The two groups of adjusting mechanisms are respectively composed of a manual adjusting component and an automatic adjusting component.

[0039] The manual adjusting component includes a sleeve rod 25 fixedly arranged through welding on one side of the outer housing 3. The number of sleeve rods 25 corresponds to that of the ropes. The outer end of the sleeve rod 25 is fixedly connected with a plug 28 through threads. One side of the plug 28 is provided with a hollow rod 29 through threads, and the outer end of the hollow rod 29 is provided with a hexagonal hole for rotation by a hexagonal wrench. One end of the hollow rod 29 is rotatably provided with a sliding plate 30 through a bearing, and the sliding plate 30 is slidably arranged in the sleeve rod 25 through a keyway and a key. One side of the sleeve rod 25 is provided with an adjusting rod 26 in a penetrating and sliding manner, and one end of the adjusting rod 26 is connected with the sliding plate 30. Utilizing the thread relationship between the hollow rod 29 and the plug 28, the adjusting rod 26 can be driven to move in the sleeve rod 25. A guiding ring 27 is fixedly arranged at the outer end of the adjusting rod 26, and the rope is located in the corresponding guiding ring 27, enabling the tension of the rope to be adjusted by manually adjusting the position of the guiding ring 27 during the debugging and installation process.

[0040] The automatic adjustment component includes a plurality of guide rods 33 fixedly arranged through one side of the sliding plate 30, and a positioning plate 31 is fixedly arranged at one end of the plurality of guide rods 33. The adjusting rod 26 is slidably arranged in the positioning plate 31 and one end thereof abuts against the positioning plate 31. The outer walls of the plurality of guide rods 33 are slidably sleeved with the same second limiting plate 34. A screw rod 32 is internally threaded in the hollow rod 29, one end of the screw rod 32 is rotatably connected to the second limiting plate 34 through a bearing, and a hexagonal hole is opened at one end of the screw rod 32 for adjusting the position of the second limiting plate 34 by rotating with a hexagonal wrench. A tension spring 35 is arranged in the sleeve rod 25, and both ends of the tension spring 35 are fixedly connected to the mutually approaching sides of the adjusting rod 26 and the second limiting plate 34 respectively. In this way, by rotating the hollow rod 29 to adjust the position of the positioning plate 31, the reference point of the adjusting rod 26 can be adjusted. When the winding rope is slack, the tension spring 35 can pull the adjusting rod 26 to move, and the winding rope can be tightened through the guide ring 27, so that the function of automatically advancing the winding rope can be achieved. At the same time, the position of the second limiting plate 34 can be driven by rotating the screw rod 32, and the length of the tension spring 35 can be adjusted, so that the effect of adjusting the tension can be achieved.

[0041] In order to further enhance the stability and reliability of the automatic adjustment component, a limiting member cooperating with the adjusting rod 26 is arranged inside the guide rod 33 to prevent it from automatically resetting after adjustment. The limiting member includes a plurality of wedge blocks 38 slidably arranged through the guide rod 33, and a sliding rod 40 is slidably arranged in the wedge block 38. The sliding rod 40 is fixedly arranged in the guide rod 33 by welding. A spring 37 is sleeved on the outer wall of the sliding rod 40, and both ends of the spring 37 are fixedly connected to the inner wall of the guide rod 33 and the top of the wedge block 38 respectively. A positioning hole 39 corresponding to the guide rod 33 is opened on the outer wall of the large end of the adjusting rod 26, and the positioning hole 39 is adapted to the wedge block 38. When the adjusting rod 26 moves, it can abut against the wedge block 38 to move upward. When the wedge block 38 corresponds to the positioning hole 39, it can reset and move under the action of the spring 37 and insert into the corresponding positioning hole 39, so as to limit the adjusting rod 26. The plurality of positioning holes 39 are arranged in a spiral shape, and always one wedge block 38 is located in the positioning hole 39. Such a design enables the adjusting rod 26 to maintain a stable positional relationship during the moving process and prevents it from moving in the reverse direction and resetting.

[0042] This application can be used in the field of transmission equipment and also in other fields applicable to this application.

[0043] Embodiment 2

[0044] Reference Figures 1-12, improved based on Embodiment 1: A transmission device for a cable-driven robot, which is applied to the field of transmission equipment. The base 1 serves as the support foundation for the entire transmission device. Threaded holes are provided at the four corners of the upper half of the base 1, facilitating the firm fixation of the base 1 to other components or the body through the connecting bolts 2. A circular through groove is provided in the left half of the base 1, and a circular cutout is provided on the upper side of the right half. These designs are mainly to adapt to and cooperate with the installation and layout of the outer casing 3 and internal components.

[0045] The outer casing 3 is closely connected to the base 1. Threaded holes are also provided at the four corners of the top and bottom of the outer casing 3, facilitating fixation to the base 1 or other components. A circular through groove is provided at the top of the left half of the outer casing 3, and circular cutouts are provided on both the inner and outer sides at the top of the right half. These notch designs are mainly to accommodate and guide the layout and routing of the internal transmission shafts and the winding ropes.

[0046] To further enhance the stability and transmission efficiency of the winding ropes, the first transmission shaft 9 is sleeved on the middle part of the outer wall of the first rotating shaft 7 located below and is fixed by the first limiting sleeve 13. The third transmission shaft 11 is the same size as the first transmission shaft 9 and is also sleeved on the middle part of the outer wall of the second rotating shaft 8 located above in a similar manner and is fixed by the third limiting sleeve 15. The second transmission shaft 10 and the fourth transmission shaft 12 are also respectively sleeved on the outer walls of the two second rotating shafts 8 and are fixed by the second limiting sleeve 14 and the fourth limiting sleeve 16. These limiting sleeves not only ensure the stable rotation of the transmission shafts but also provide reliable fixing points for the winding ropes.

[0047] Specifically, one end of the first winding rope 17 is fixedly connected to the bottom of the first limiting sleeve 13, while the other end of the first winding rope 17 is fixedly connected to the top of the second limiting sleeve 14 located below. Similarly, one end of the second winding rope 18 is fixedly connected to the top of the first limiting sleeve 13, and the other end of the second winding rope 18 is fixedly connected to the bottom of the second limiting sleeve 14 located above. The third limiting sleeve 15 and the fourth limiting sleeve 16 are also respectively connected to the third winding rope 19 and the fourth winding rope 20 in the same way. These winding ropes are of the same thickness and are wound counterclockwise on the transmission shafts from top to bottom, ensuring the smooth and efficient transmission process.

[0048] Inside the first limiting plate 4, a third bearing 21 and a fourth bearing 23 are embedded. The outer ring of the third bearing 21 is fixedly connected to the first limiting plate 4, and the inner ring is fixedly connected to the third rotating shaft 22. The two ends of the third rotating shaft 22 are respectively fixedly connected to the two second rotating shafts 8, forming a stable support structure. At the same time, there are two fourth bearings 23. The outer rings of the fourth bearings 23 are fixedly connected to the first limiting plate 4, and the inner rings are both fixedly connected to the fourth rotating shafts 24. The two fourth rotating shafts 24 are respectively fixedly connected to the two first rotating shafts 7, further enhancing the stability of the transmission device.

[0049] In use, first connect the device between the power mechanism and the actuator. Fix the bottom of the first rotating shaft 7 on the lower side to the main shaft of the motor, and fix the top of the first rotating shaft 7 on the upper side to the robotic arm assembly. Control the rotation of the main shaft of the motor, and the device can drive the robotic arm assembly to rotate at a specified angle. The main shaft of the motor drives the first transmission shaft 9 to rotate through the first rotating shaft 7 on the lower side. When the first transmission shaft 9 rotates clockwise from top to bottom, it drives the second transmission shaft 10 to rotate through the first rope 17. While the second transmission shaft 10 rotates, it winds the second rope 18 on the outside, which can keep the second rope 18 taut. When the first transmission shaft 9 rotates counterclockwise from top to bottom, it drives the second transmission shaft 10 to rotate through the second rope 18. While the second transmission shaft 10 rotates, it winds the first rope 17 on the outside, which can keep the first rope 17 taut. This can ensure that the driving rope is continuously taut. The second transmission shaft 10 drives the third transmission shaft 11 to rotate synchronously through the third rotating shaft 22. The third transmission shaft 11 drives the fourth transmission shaft 12 to rotate by the same principle. Since the first transmission shaft 9 and the second transmission shaft 10, and the third transmission shaft 11 and the fourth transmission shaft 12 are all linked by the driving rope, the linear velocities of the first transmission shaft 9 and the second transmission shaft 10 are the same, and the linear velocities of the third transmission shaft 11 and the fourth transmission shaft 12 are the same. Since the second transmission shaft 10 fixes and connects the third transmission shaft 11 through the third rotating shaft 22, the angular velocities of the second transmission shaft 10 and the third transmission shaft 11 are the same. Thus, when the length of the driving rope is limited, the transmission ratio between the power mechanism and the actuator can be made larger. At the same time, the internal structure of the device is fixed on the top of the base 1 through the outer housing 3 and the first limiting plate 4, and the outer housing 3 and the base 1 are fixedly connected by the connecting bolts 2. If a larger transmission ratio is required, other components of the device except the base 1 can be fixed as a whole on the top of the first outer housing 3 through more connecting bolts 2, and multiple sets of devices can be linked through the first rotating shaft 7, so that a precision actuator that needs to make a small-angle rotation can have higher precision and smaller error;

[0050] When the rope becomes slack, the tension spring 35 can pull the adjusting rod 26 to move within the sleeve rod 25, so that the guide ring 27 can be used to tighten the rope. And during the movement of the adjusting rod 26, it can push the wedge block 38 to move. When one of the wedge blocks 38 corresponds to the positioning hole 39, it can automatically snap into the positioning hole 39, so as to position the adjusting rod 26 and prevent the adjusting rod 26 from moving in the reverse direction. At the same time, during the installation and debugging process, the tension of the tension spring 35 and the starting point of the movement of the adjusting rod 26 can be manually adjusted, making the adjustment more convenient.

[0051] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes should be covered within the protection scope of the present invention.

Claims

1. A transmission device for a cable-driven robot, which is used between the power mechanism and the execution mechanism of the cable-driven robot to transmit power, and is characterized in that, It includes a base (1) and connecting bolts (2). The base (1) is fixedly connected to the outer housing (3) through the connecting bolts (2). Inside the outer housing (3), a first limiting plate (4) is fixedly connected by welding. Both the base (1) and the outer housing (3) are connected to a first bearing (5) and a second bearing (6), and their outer rings are respectively fixedly connected to the corresponding base (1) and outer housing (3). The inner rings of the two first bearings (5) are both fixedly connected to a first rotating shaft (7), and the inner rings of the two second bearings (6) are both fixedly connected to a second rotating shaft (8). A first transmission shaft (9) is sleeved on the outer wall of the first rotating shaft (7) located below, and a second transmission shaft (10) is fixedly sleeved on the outer wall of the second rotating shaft (8) located below. A third transmission shaft (11) is fixedly sleeved on the outer wall of the second rotating shaft (8) located above, and a fourth transmission shaft (12) is fixedly sleeved at the bottom of the first rotating shaft (7) located above. A third rope (19) and a fourth rope (20) are connected to the outer walls of the fourth transmission shaft (12) and the third transmission shaft (11), and a second rope (18) and a first rope (17) are connected to the outer walls of the second transmission shaft (10) and the first transmission shaft (9). The two first rotating shafts (7) and the two second rotating shafts (8) form multi-point output and input for simultaneously delivering power to multiple different components. Two groups of adjusting mechanisms are arranged inside the outer housing (3) for adjusting the tension of the four ropes, and they are composed of a manual adjusting component and an automatic adjusting component.

2. The transmission device of a cable-driven robot according to claim 1, characterized in that A first limiting sleeve (13) is fixedly sleeved in the middle of the outer wall of the first transmission shaft (9), second limiting sleeves (14) are fixedly sleeved on the outer walls at both ends of the second transmission shaft (10), a third limiting sleeve (15) is fixedly sleeved in the middle of the outer wall of the third transmission shaft (11), and fourth limiting sleeves (16) are fixedly sleeved on the outer walls at both ends of the fourth transmission shaft (12). One end of the first rope (17) is fixedly connected to the bottom of the first limiting sleeve (13), and the other end of the first rope (17) is fixedly connected to the top of the second limiting sleeve (14) located below. One end of the second rope (18) is fixedly connected to the top of the first limiting sleeve (13), and the other end of the second rope (18) is fixedly connected to the bottom of the second limiting sleeve (14) located above. One end of the third rope (19) is fixedly connected to the bottom of the third limiting sleeve (15), and the other end of the third rope (19) is fixedly connected to the top of the fourth limiting sleeve (16) located on the lower side. One end of the fourth rope (20) is fixedly connected to the top of the third limiting sleeve (15), and the other end of the fourth rope (20) is fixedly connected to the bottom of the fourth limiting sleeve (16) located on the upper side.

3. The transmission device of a cable-driven robot according to claim 2, wherein The first limiting plate (4) is embedded with a third bearing (21) and a fourth bearing (23). The outer ring of the third bearing (21) is fixedly connected to the first limiting plate (4), and the inner ring is fixedly connected to a third rotating shaft (22). Both ends of the third rotating shaft (22) are fixedly connected to two second rotating shafts (8) respectively to form a support. There are two fourth bearings (23), the outer rings of which are fixedly connected to the first limiting plate (4), and the inner rings are fixedly connected to fourth rotating shafts (24) respectively. The two fourth rotating shafts (24) are fixedly connected to two first rotating shafts (7) respectively.

4. The transmission device of a cable-driven robot according to claim 1, characterized in that The manual adjustment assembly penetrates and is fixedly arranged in a sleeve rod (25) on one side of the outer housing (3). The sleeve rod (25) corresponds to the rope winding. A plug block (28) is fixedly connected to the outer end of the sleeve rod (25) through threads. A hollow rod (29) is provided with a threaded hole on one side of the plug block (28). A sliding plate (30) is rotatably arranged at one end of the hollow rod (29). The sliding plate (30) is slidably arranged in the sleeve rod (25) through a keyway and a key. An adjusting rod (26) is slidably arranged through one side of the sleeve rod (25). One end of the adjusting rod (26) is connected to the sliding plate (30). The threaded relationship between the hollow rod (29) and the plug block (28) is used to drive the adjusting rod (26) to move in the sleeve rod (25). A guiding ring (27) is fixedly arranged at the outer end of the adjusting rod (26). The rope winding is located in the corresponding guiding ring (27).

5. The transmission device of a cable-driven robot according to claim 4, wherein The automatic adjustment assembly includes a plurality of guiding rods (33) fixedly arranged through one side of the sliding plate (30). The same positioning plate (31) is fixedly arranged at one end of the plurality of guiding rods (33). The adjusting rod (26) is slidably arranged in the positioning plate (31) and one end thereof abuts against the positioning plate (31). The outer walls of the plurality of guiding rods (33) are slidably sleeved with the same second limiting plate (34). A screw rod (32) is provided with a threaded hole in the hollow rod (29). One end of the screw rod (32) is rotatably connected to the second limiting plate (34) through a bearing. A tension spring (35) is arranged in the sleeve rod (25). The two ends of the tension spring (35) are fixedly connected to the mutually close sides of the adjusting rod (26) and the second limiting plate (34) respectively. A limiting member for cooperating with the adjusting rod (26) is arranged inside the guiding rod (33) to prevent the adjusting rod (26) from moving reversely and resetting between the plurality of guiding rods (33).

6. The transmission device of a cable-driven robot according to claim 5, characterized in that, The limiting member includes a plurality of wedge blocks (38) slidably arranged through the guiding rods (33). A sliding rod (40) is slidably arranged in the wedge blocks (38). The sliding rod (40) is fixedly arranged in the guiding rods (33). A spring (37) is sleeved on the outer wall of the sliding rod (40). The two ends of the spring (37) are fixedly connected to the inner wall of the guiding rod (33) and the top of the wedge block (38) respectively. A positioning hole (39) corresponding to the guiding rod (33) is formed in the outer wall of the large end of the adjusting rod (26), and the positioning hole (39) is adapted to the wedge block (38).

7. The transmission device of a cable-driven robot according to claim 6, characterized in that, A plurality of the positioning holes (39) are arranged in a spiral shape, and a wedge block (38) is always kept in the positioning hole (39).

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