Control methods for drive mechanisms, dexterous hands, robots, and drive mechanisms

Abstract

This invention provides a driving device, a dexterous hand, a robot, and a control method for the driving device. The driving device includes a base, a driving mechanism, a first driving wheel, a second driving wheel, a driven wheel, and a transmission rope structure. The driving mechanism is located on the base. The first driving wheel is driven by the driving mechanism. The second driving wheel is also driven by the driving mechanism. The driven wheel is rotatably connected to the base. The transmission rope structure includes a first rope section and a second rope section. The first driving wheel is driven by the driven wheel through the first rope section, and the second driving wheel is driven by the driven wheel through the second rope section. The first and second rope sections are respectively used to drive the driven wheel to rotate in different directions so that the load can rotate in different directions. The driving mechanism is configured to drive the first driving wheel to rotate in a first direction to wind up the first rope section, and to drive the second driving wheel to rotate in a second direction opposite to the first direction to wind up the second rope section. This allows the first and second rope sections to be tensioned, improving transmission accuracy.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment technology, and in particular to a drive device, a dexterous hand, a robot, and a control method for the drive device. Background Technology

[0002] Robots have wide applications in various fields, not only improving production efficiency but also replacing humans in dangerous and complex environments, ensuring human safety. Rope-driven robots offer advantages such as long-distance power transmission, smaller overall size, low end-effector inertia, and fast system response, making them commonly used in the robotics industry, especially in dexterous hand design. However, due to the inherent characteristics of the rope, it is difficult to avoid stretching and creep elongation after prolonged use. In bidirectional drive rope systems, rope elongation can easily cause backlash when the motor drives the end-effector in both directions, resulting in less precise transmission and reduced product reliability. Summary of the Invention

[0003] This invention provides a drive device, a dexterous hand, a robot, and a control method for the drive device to solve the above-mentioned problems.

[0004] The first aspect of the present invention provides a driving device, comprising: Base; The drive mechanism is located on the base; The first drive wheel is connected to the drive mechanism via a transmission connection. The second drive wheel is connected to the drive mechanism via a transmission connection. Driven wheel, rotatably connected to the base, the driven wheel being configured to be connected to a load; The transmission rope structure includes a first rope section and a second rope section. The first driving wheel is connected to the driven wheel through the first rope section, and the second driving wheel is connected to the driven wheel through the second rope section. The first rope section and the second rope section are respectively used to drive the driven wheel to rotate in different directions so that the load can rotate in different directions. The drive mechanism is configured to drive the first drive wheel to rotate along a first direction to wind up the first rope portion, and to drive the second drive wheel to rotate along a second direction opposite to the first direction to wind up the second rope portion.

[0005] In the driving device of this embodiment of the invention, the driving mechanism includes a driving shaft and a one-way transmission mechanism. The driving shaft is connected to the first driving wheel through the one-way transmission mechanism, and the driving shaft is connected to the second driving wheel. The drive shaft is configured such that, when rotating along the first direction, it can drive the first drive wheel to rotate along the first direction to wind up the first rope portion via the one-way transmission mechanism, and the drive shaft can drive the second drive wheel to rotate along the first direction; the drive shaft is also configured such that, when rotating along the second direction, it can drive the second drive wheel to rotate along the second direction to wind up the second rope portion, but cannot drive the first drive wheel to rotate along the second direction via the one-way transmission mechanism.

[0006] In the driving device of this embodiment, the one-way transmission mechanism includes a one-way bearing and a resistance mechanism. The one-way bearing includes an inner ring connected to the drive shaft and an outer ring sleeved outside the inner ring. The one-way bearing is configured such that when the inner ring rotates along the first direction, the outer ring follows the inner ring and rotates along the first direction; when the inner ring rotates along the second direction, the inner ring and the outer ring are relatively free, and the inner ring cannot drive the outer ring to rotate along the second direction. The first driving wheel is connected to the outer ring, and the outer ring and / or the first driving wheel are in contact with the resistance mechanism. The drive shaft is configured to drive the first drive wheel via the one-way bearing and overcome the resistance of the resistance mechanism to rotate along the first direction when rotating in the first direction, thereby winding up the first rope portion; The drive shaft is configured to drive the second drive wheel to rotate in the second direction to wind up the second rope portion when rotating in the second direction, but cannot directly drive the first drive wheel to rotate in the second direction.

[0007] In the driving device of this embodiment of the invention, the drive shaft is configured to, when rotating along the first direction, drive the first driving wheel to overcome the resistance of the resistance mechanism and rotate along the first direction via the one-way bearing, thereby winding up the first rope portion. The first rope portion can drive the driven wheel to rotate along the first direction and drive the second rope portion to be wound up by the driven wheel. The drive shaft is configured to drive the second drive wheel to rotate along the second direction to wind up the second rope portion when rotating along the second direction. The second rope portion can drive the driven wheel to rotate along the second direction and drive the first rope portion to be wound up by the driven wheel.

[0008] In the driving device of this embodiment of the invention, the driving shaft is configured to drive the second driving wheel to rotate along the second direction to wind up the second rope portion when rotating along the second direction. The second rope portion can drive the driven wheel to rotate along the second direction and drive the first rope portion to be wound up by the driven wheel until the tension of the first rope portion gradually increases to be greater than or equal to the resistance of the resistance mechanism. Then, the first rope portion can drive the first driving wheel to overcome the resistance of the resistance mechanism and rotate along the second direction.

[0009] In the driving device of this embodiment of the invention, the driving device is configured such that when the tension of the first rope portion and the second rope portion is greater than or equal to the resistance of the resistance mechanism, the driving shaft can drive the first driving wheel and the second driving wheel to rotate along the first direction, the first rope portion can drive the driven wheel and the load to rotate along the first direction, the driven wheel can drive the second rope portion to unwind from the second driving wheel and wind up to the driven wheel, the driving shaft can drive the second driving wheel to rotate along the second direction, the second rope portion can drive the driven wheel and the load to rotate along the second direction, and the driven wheel can drive the first rope portion to unwind from the first driving wheel and wind up to the driven wheel.

[0010] In the driving device of this embodiment of the invention, the driving device has a tensioning mode and a working mode, the tensioning mode being located before the working mode; in response to the driving device being in the tensioning mode, the driving device is configured to perform at least two forward and reverse rotation operations to make the tension of the first rope portion and the second rope portion reach a preset tension, wherein the forward and reverse rotation operations include driving the second driving wheel to rotate along the second direction to make the driven wheel rotate a second preset angle and driving the first driving wheel to rotate along the first direction to make the driven wheel rotate a first preset angle.

[0011] In the driving device of this embodiment of the invention, the driving device is configured to enter the working mode to drive the load to rotate when the tension of the first rope portion and the second rope portion reaches a preset tension.

[0012] In the driving device of this embodiment, the driving mechanism includes a resistance mechanism, and the preset tension force is equal to or approximately equal to the resistance of the resistance mechanism. By setting the resistance mechanism, on the one hand, when the drive shaft rotates along the second direction and the driven wheel also rotates in the second direction, it can, to a certain extent, limit the first driving wheel from rotating, thereby allowing the first rope to follow the driven wheel and achieve the effect of winding the first rope. Simultaneously, the magnitude of the resistance of the resistance mechanism can also be used to determine the magnitude of the preset tension force; adjusting the resistance sets the preset tension force.

[0013] In the driving device of this invention embodiment, the resistance mechanism of the driving mechanism includes at least one of the following: a damping rubber ring, a snap-fit ​​structure, and a magnetic structure.

[0014] In the driving device of this embodiment, the first driving wheel and the second driving wheel have the same wheel diameter.

[0015] In the driving device of this embodiment, the first rope portion and the second rope portion are respectively disposed on both sides of the driven wheel.

[0016] The driving device in this embodiment of the invention further includes: A sensor is used to detect the rotation angle of the driven wheel, and the drive mechanism is configured to adjust its rotation direction according to the rotation angle.

[0017] In the driving device of this embodiment of the invention, the driven wheel rotates within a preset range, which is less than 180°.

[0018] In the driving device of this embodiment of the invention, the first rope portion and the second rope portion are separately disposed; or, the first rope portion and the second rope portion are two segments of the same rope.

[0019] A second aspect of the present invention provides a dexterous hand, comprising: The drive device as described in any of the preceding items; and, The load is connected to the drive device.

[0020] A third aspect of the present invention provides a robot, comprising: The drive device as described in any of the preceding claims; and a load connected to the drive device.

[0021] A fourth aspect of the present invention provides a control method for a driving device, the driving device comprising the driving device described in the first aspect of the present invention; the control method comprising: The control mechanism drives a first drive wheel to rotate along a first direction to wind up a first rope portion, wherein the first drive wheel is drive-connected to a driven wheel via the first rope portion, and the driven wheel is configured to be connected to a load; and controls the drive mechanism to drive a second drive wheel to rotate along a second direction opposite to the first direction to wind up a second rope portion, wherein the second drive wheel is drive-connected to the driven wheel via the second rope portion.

[0022] In the control method of this invention embodiment, the driving mechanism includes a drive shaft and a one-way transmission mechanism. The control driving mechanism drives the first drive wheel to rotate along a first direction to wind up the first rope portion, including: The drive shaft is controlled to rotate along the first direction. The drive shaft drives the first drive wheel to rotate along the first direction through the one-way transmission mechanism to wind up the first rope. The drive shaft can also drive the second drive wheel to rotate along the first direction. The control drive mechanism drives the second drive wheel to rotate in a second direction opposite to the first direction to wind up the second rope portion, including: The drive shaft is controlled to rotate along the second direction, and the drive shaft drives the second drive wheel to rotate along the second direction to wind up the second rope. The drive shaft cannot drive the first drive wheel to rotate along the second direction through the one-way transmission mechanism.

[0023] In the control method of this invention embodiment, the driving mechanism includes a drive shaft and a one-way transmission mechanism, and the one-way transmission mechanism includes a one-way bearing and a resistance mechanism; The control drive mechanism drives the first drive wheel to rotate along a first direction to wind up the first rope portion, including: The drive shaft is controlled to rotate along the first direction. The drive shaft drives the first drive wheel through the one-way bearing and overcomes the resistance of the resistance mechanism to rotate along the first direction, thereby winding up the first rope section. The control drive mechanism drives the second drive wheel to rotate in a second direction opposite to the first direction to wind up the second rope portion, including: The drive shaft is controlled to rotate along the second direction, and the drive shaft drives the second drive wheel to rotate along the second direction to wind up the second rope portion, but cannot directly drive the first drive wheel to rotate along the second direction.

[0024] In the control method of this invention embodiment, the control drive mechanism drives the first drive wheel to rotate along a first direction to wind up the first rope portion, including: The control drive mechanism drives the first driving wheel to rotate along the first direction until the driven wheel rotates to the first preset angle; The control drive mechanism drives the second drive wheel to rotate in a second direction opposite to the first direction to wind up the second rope portion, including: The control drive mechanism drives the second driving wheel to rotate along the second direction until the driven wheel rotates to the second preset angle.

[0025] In the control method of this embodiment of the invention, the method further includes: controlling the drive mechanism to switch to rotation in the second direction in response to the driven wheel rotating to the first preset angle; and / or, controlling the drive mechanism to switch to rotation in the first direction in response to the driven wheel rotating to the second preset angle.

[0026] In the control method of this embodiment of the invention, the control method further includes: in response to the drive device being in the tensioning mode, controlling the drive device to perform at least two forward and reverse rotation operations so that the tension of the first rope portion and the second rope portion reaches a preset tension, wherein the forward and reverse rotation operations include driving the second drive wheel to rotate along the second direction to wind up the second rope portion and driving the first drive wheel to rotate along the first direction to wind up the first rope portion; the tensioning mode is located before the working mode of the drive device.

[0027] The drive device, dexterous hand, robot, and control method of the drive device provided by the present invention, because the drive mechanism of the drive device is configured to drive the first drive wheel to rotate along a first direction to wind up the first rope portion, so as to compensate for the deformation of the first rope portion during the use, storage, or assembly of the drive device; and to drive the second drive wheel to rotate along a second direction opposite to the first direction to wind up the second rope portion, so as to compensate for the deformation of the second rope portion during the use, storage, or assembly of the drive device, ensure that the first rope portion and the second rope portion remain taut when used to drive the load, reduce or even avoid the backlash difference when the drive device drives the load, thereby improving the transmission accuracy and service life of the transmission rope structure, and thus improving the reliability of the drive device, providing a guarantee for precise control of the load movement.

[0028] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of the present invention. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of a driving device provided in an embodiment of the present invention; Figure 2 This is a cross-sectional view of a driving device provided in an embodiment of the present invention, wherein only a portion of the driving mechanism is shown; Figure 3 This is a schematic diagram of the structure of a driving device provided in an embodiment of the present invention, wherein both the first rope portion and the second rope portion are loose; Figure 4 This is a schematic diagram of the structure of a driving device provided in an embodiment of the present invention, wherein both the first rope portion and the second rope portion are taut. Figure 5 This is a schematic diagram of the structure of a driving device provided in an embodiment of the present invention, wherein both the first rope portion and the second rope portion are taut. Figure 6 This is a cross-sectional view of a driving device provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a driving device provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of a control method for a drive device provided in an embodiment of the present invention.

[0031] Explanation of reference numerals in the attached figures: 100. Drive unit; 10. Base; 20. Drive mechanism; 21. Drive shaft; 22. One-way transmission mechanism; 221. One-way bearing; 2211. Inner ring; 2212. Outer ring; 222. Resistance mechanism; 23. Drive unit; 30. First driving pulley; 40. Second driving pulley; 50. Driven pulley; 60. Transmission rope structure; 61. First rope section; 62. Second rope section; 70. Sensor; 80. Connecting bearing; 200. Load. Detailed Implementation

[0032] 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, not all, of the embodiments of the present invention. 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.

[0033] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0034] Please see Figure 1This invention provides a driving device 100, including a base 10, a driving mechanism 20, a first driving wheel 30, and a second driving wheel 40. The driving mechanism 20 is disposed on the base 10. The first driving wheel 30 is drivenly connected to the driving mechanism 20. The second driving wheel 40 is also drivenly connected to the driving mechanism 20. A driven wheel 50 is rotatably connected to the base 10 and is configured to be connected to a load 200. A transmission rope structure 60 includes a first rope portion 61 and a second rope portion 62. The first driving wheel 30 is drivenly connected to the driven wheel 50 via the first rope portion 61, and the second driving wheel 40 is drivenly connected to the driven wheel 50 via the second rope portion 62. The first rope portion 61 and the second rope portion 62 are respectively used to drive the driven wheel 50 to rotate in different directions so that the load 200 can rotate in different directions. The driving mechanism 20 is configured to drive the first driving wheel 30 to rotate in a first direction to wind up the first rope portion 61, and to drive the second driving wheel 40 to rotate in a second direction opposite to the first direction to wind up the second rope portion 62.

[0035] The drive device 100 of the above embodiment has a drive mechanism 20 configured to drive the first drive wheel 30 to rotate along a first direction to wind up the first rope portion 61, thereby compensating for the deformation of the first rope portion 61 during use, storage, or assembly of the drive device 100; and to drive the second drive wheel 40 to rotate along a second direction opposite to the first direction to wind up the second rope portion 62, thereby compensating for the deformation of the second rope portion 62 during use, storage, or assembly of the drive device 100. This ensures that the first rope portion 61 and the second rope portion 62 remain taut when driving the load 200, reducing or even avoiding the backlash difference when the drive device 100 drives the load 200, thereby improving the transmission accuracy and service life of the transmission rope structure 60, and further improving the reliability of the drive device 100, providing a guarantee for precise control of the load 200's movement. This drive device 100 has a reasonable structural design, can achieve automatic tensioning of the first rope portion 61 and the second rope portion 62 without manual tensioning, and is simple and convenient to operate.

[0036] For example, the first direction is clockwise and the second direction is counterclockwise; or, the first direction is counterclockwise and the second direction is clockwise.

[0037] For example, the first direction is as follows Figure 1 In the ω direction, the second direction is... Figure 1 The direction of ω is opposite.

[0038] The first rope section 61 can have one or more winding states. For example, it can be wound up to absorb a portion of the rope length, but the first rope section 61 is not yet taut; or it can be wound up to the point where the first rope section 61 is taut, but at different degrees of tautness, the first rope section 61 has different tensions. The first drive wheel 30 can rotate within a certain range along the first direction to different angles, so that the first rope section 61 has different winding states. The drive mechanism 20 can drive the first drive wheel 30 to rotate along the first direction to the angle corresponding to the required tension of the first rope section 61.

[0039] The second rope section 62 can have one or more winding states. For example, it can be wound up to absorb a portion of the rope length, but the second rope section 62 is not yet taut; or it can be wound up to the point where the second rope section 62 is taut, but at different degrees of tautness, with varying tension. The second drive wheel 40 can rotate within a certain range along the second direction to different angles, thus enabling the second rope section 62 to be in a winding state. The drive mechanism 20 can drive the second drive wheel 40 to rotate along the second direction to the angle corresponding to the required tension of the second rope section 62.

[0040] Please see Figure 2In some embodiments, the drive mechanism 20 includes a drive shaft 21 and a one-way transmission mechanism 22. The drive shaft 21 is connected to a first drive wheel 30 and a second drive wheel 40 via the one-way transmission mechanism 22. The drive shaft 21 is configured to, when rotating along a first direction, drive the first drive wheel 30 to rotate along the first direction via the one-way transmission mechanism 22 to wind up the first rope portion 61, and the drive shaft 21 can also drive the second drive wheel 40 to rotate along the first direction. The drive shaft 21 is also configured to, when rotating along a second direction, drive the second drive wheel 40 to rotate along the second direction to wind up the second rope portion 62, but the drive shaft 21 cannot drive the first drive wheel 30 to rotate along the second direction via the one-way transmission mechanism 22. In this embodiment, when the drive shaft 21 rotates along the first direction, the drive shaft 21 can drive the first drive wheel 30 to rotate along the first direction through the one-way transmission mechanism 22, thereby winding up the first rope portion 61; when the drive shaft 21 rotates along the second direction, the drive shaft 21 can drive the second drive wheel 40 to rotate along the second direction, thereby winding up the second rope portion 62. Due to the setting of the one-way transmission mechanism 22, when the drive mechanism 20 rotates along the second direction, the first drive wheel 30 will not rotate along the second direction, so that the first rope portion 61, which has not yet reached the preset tension, will not be unwound. Furthermore, when the second rope portion 62 drives the driven wheel 50 to rotate along the second direction, it can also rotate along the second direction and be wound up by the driven wheel 50, thereby enabling both the first rope portion 61 and the second rope portion 62 to be wound up. In this embodiment, the winding of the first rope section 61 and the second rope section 62 can be achieved by controlling the rotation direction of the same drive shaft 21. This eliminates the need for separate motors for winding the first rope section 61 and the second rope section 62, saving on the number of motors required, simplifying the structure of the drive device 100, reducing space requirements, and lowering costs. Furthermore, the tensioning of both the first rope section 61 and the second rope section 62 is automatic as the drive shaft 21 rotates, eliminating the need for manual tensioning and maintenance, significantly reducing labor costs.

[0041] Please see Figure 2In some embodiments, the one-way transmission mechanism 22 includes a one-way bearing 221 and a resistance mechanism 222. The one-way bearing 221 includes an inner ring 2211 connected to the drive shaft 21 and an outer ring 2212 sleeved outside the inner ring 2211. The one-way bearing 221 is configured such that when the inner ring 2211 rotates along a first direction, the outer ring 2212 follows the inner ring 2211 and rotates along the first direction; when the inner ring 2211 rotates along a second direction, the inner ring 2211 and the outer ring 2212 are relatively free, and the inner ring 2211 cannot drive the outer ring 2212 to rotate along the second direction. The first drive wheel 30 is connected to the outer ring 2212, and at least one of the outer ring 2212 and the first drive wheel 30 is in contact with the resistance mechanism 222. The drive shaft 21 is configured to drive the first drive wheel 30 via the one-way bearing 221 and overcome the resistance of the resistance mechanism 222 to rotate along the first direction, thereby winding up the first rope portion 61. The drive shaft 21 is also configured to drive the second drive wheel 40 to rotate along the second direction to wind up the second rope portion 62 when rotating along the second direction, but it cannot directly drive the first drive wheel 30 to rotate along the second direction. Through the resistance mechanism 222, on the one hand, when the drive shaft 21 rotates along the second direction and the driven wheel 50 also rotates in the second direction, it can, to a certain extent, restrict the first drive wheel 30 from rotating, thereby allowing the first rope portion 61 to rotate with the driven wheel, thus achieving the effect of winding up the first rope portion 61. Simultaneously, the resistance of the resistance mechanism 222 can also be used to determine the preset tension of the first rope section 61 or the second rope section 62. Adjusting the resistance of the resistance mechanism 222 sets the preset tension, thereby adjusting the tension of the first rope section 61 or the second rope section 62, ensuring that both the first rope section 61 and the second rope section 62 have good tension, minimizing the backlash difference when the drive shaft 21 drives the load 200 to rotate in the first and second directions, and effectively improving the transmission accuracy of the first rope section 61 and the second rope section 62. Furthermore, the unidirectional transmission mechanism 22 has a compact and simple structure and low cost. It should be noted that... Figure 2 The structure, shape, and / or position of each component in the drive unit 100 are merely exemplary. In specific applications, the structure, shape, and / or position of each component in the drive unit 100 can be adjusted according to actual needs. The specific structure of the one-way bearing 221 is prior art and will not be described in detail here.

[0042] Understandably, the outer ring 2212 and the first driving wheel 30 are fixedly connected. At least one of the outer ring 2212 and the first driving wheel 30 is in contact with the resistance mechanism 222, including: the outer ring 2212 is in contact with the resistance mechanism 222; the first driving wheel 30 is in contact with the resistance mechanism 222; and both the outer ring 2212 and the first driving wheel 30 are in contact with the resistance mechanism 222.

[0043] In some embodiments, the drive shaft 21 is configured such that, when rotating along a first direction, it can drive a first drive wheel 30 to overcome the resistance of the resistance mechanism 222 and rotate along the first direction via a one-way bearing 221, thereby winding up a first rope portion 61. The first rope portion 61 can drive a driven wheel 50 to rotate along the first direction and drive a second rope portion 62 to be wound onto the driven wheel 50. When the drive shaft 21 is configured such that, when rotating along a second direction, it can drive a second drive wheel 40 to rotate along the second direction to wind up a second rope portion 62. The second rope portion 62 can drive a driven wheel 50 to rotate along the second direction and drive the first rope portion 61 to be wound onto the driven wheel 50. Thus, when the drive shaft 21 rotates along the first direction, it drives the first drive wheel 30 to rotate along the first direction via the one-way bearing 221, allowing a portion of the first rope 61 to be wound onto the drive wheel 30. When the first rope 61 is wound taut, the driven wheel 50 also rotates along the first direction, thereby winding the second rope 62 onto the driven wheel 50. When the drive shaft 21 rotates along the second direction, it drives the second drive wheel 40 to rotate along the second direction, allowing a portion of the second rope 62 to be wound onto the drive wheel 40. When the second rope 62 is wound taut, the driven wheel 50 also rotates along the second direction, thereby winding the first rope 61 onto the driven wheel 50. This ensures that both the first rope 61 and the second rope 62 have good tension. The preset tension can be set according to actual needs and is not limited here.

[0044] In some embodiments, the drive shaft 21 is configured to drive the second drive wheel 40 to rotate in the second direction to wind up the second rope portion 62 when rotating in the second direction. The second rope portion 62 can drive the driven wheel 50 to rotate in the second direction and drive the first rope portion 61 to be wound up by the driven wheel 50 until the tension of the first rope portion 61 gradually increases to be greater than or equal to the resistance of the resistance mechanism 222. Then, the first rope portion 61 can drive the first drive wheel 30 to overcome the resistance of the resistance mechanism 222 and rotate in the second direction. Thus, when the drive shaft 21 rotates along the second direction, the second rope portion 62 can be wound up. During the process of the second rope portion 62 being wound up to a certain extent and driving the driven wheel 50 to rotate along the second direction, the first rope portion 61 can be wound up to the driven wheel 50. When the tension of the first rope portion 61 is insufficient to overcome the resistance of the resistance mechanism 222, the resistance mechanism 222 can, to a certain extent, restrict the first drive wheel 30 from rotating along the second direction with the driven wheel 50, so that the first rope portion 61 at the first drive wheel 30 will not be unwound. This also achieves the effect of winding up the first rope portion 61. That is, during the process of the drive shaft 21 rotating along the second direction, both the first rope portion 61 and the second rope portion 62 can be wound up.

[0045] Understandably, when the drive shaft 21 rotates in the second direction, and the force applied by the first rope portion 61 to the first drive wheel 30 is insufficient to overcome the resistance applied by the resistance mechanism 222 to the first drive wheel 30, the first drive wheel 30 remains stationary. The resistance applied by the resistance mechanism 222 can be transmitted to the driven wheel 50 through the first drive wheel 30 and the initially tensioned first rope portion 61 to prevent the driven wheel 50 from rotating in the second direction. Meanwhile, the second rope portion 62, driven by the second drive wheel 40, can apply force to the driven wheel 50, causing the driven wheel 50 to tend to rotate in the second direction. During this antagonistic process, the second rope portion 62 is tensioned. When the tension of the second rope portion 62 gradually increases to be greater than or equal to the resistance transmitted by the resistance mechanism 222 to the driven wheel 50, the second drive wheel 40 can drive the driven wheel 50 through the second rope portion 62 to overcome the resistance and rotate in the second direction. Since both the first rope section 61 and the second rope section 62 are connected to the driven wheel 50, when the driven wheel 50 rotates in the second direction and the first driving wheel 30 remains stationary under the resistance of the resistance mechanism 222, the first rope section 61 can also be tensioned to a certain extent.

[0046] In some embodiments, the drive device 100 is configured such that when the tension of the first rope portion 61 and the second rope portion 62 is greater than or equal to the resistance of the resistance mechanism 222, the drive shaft 21 can drive the first drive wheel 30 and the second drive wheel 40 to rotate in a first direction, the first rope portion 61 can drive the driven wheel 50 and the load 200 to rotate in the first direction, the driven wheel 50 can drive the second rope portion 62 to unwind from the second drive wheel 40 and wind up to the driven wheel 50, the drive shaft 21 can drive the second drive wheel 40 to rotate in a second direction, the second rope portion 62 can drive the driven wheel 50 and the load 200 to rotate in the second direction, and the driven wheel 50 can drive the first rope portion 61 to unwind from the first drive wheel 30 and wind up to the driven wheel 50. Thus, when the tension force of the first rope section 61 and the second rope section 62 is greater than or equal to the resistance of the resistance mechanism 222, i.e., under the preset tension state, the reciprocating drive of the load 200 is realized. Furthermore, the same drive shaft 21 can both tension the first rope section 61 and the second rope section 62 and drive the load 200 to rotate to perform the preset task, eliminating the need for separate tensioning motors for tensioning the first rope section 61 and the second rope section 62, and separate drive motors for driving the load 200 to rotate. This saves on the number of motors, simplifies the structure of the drive device 100, reduces space occupation, and lowers costs. The preset task includes at least one of the following: pick-and-place task, transfer task, cleaning task, etc.

[0047] Please see Figure 2 For example, the drive mechanism 20 includes a drive unit 23, which is connected to a drive shaft 21. For example, the drive unit 23 includes a motor or a cylinder, etc.

[0048] In some embodiments, the drive device 100 has a tensioning mode and a working mode, with the tensioning mode preceding the working mode. In response to the drive device 100 being in the tensioning mode, the drive device 100 is configured to perform at least two forward and reverse rotation operations to achieve a preset tension force on the first rope portion 61 and the second rope portion 62. Each forward and reverse rotation operation includes driving the second drive wheel 40 to rotate along a second direction to cause the driven wheel 50 to rotate by a second preset angle, and driving the first drive wheel 30 to rotate along a first direction to cause the driven wheel 50 to rotate by a first preset angle. Exemplarily, the drive shaft 21 can continuously drive the second drive wheel 40 to rotate along the second direction, slackening the second rope portion 62, thereby driving the stationary driven wheel 50 and rotating it to the second preset angle. At this point, the rotation direction of the drive shaft 21 can be switched. Similarly, the drive shaft 21 can continuously drive the first driving wheel 30 to rotate in the first direction, thereby straightening the slack first rope 61 and driving the stationary driven wheel 50 to rotate to the first preset angle. At this point, the rotation direction of the drive shaft 21 can be switched. Through two forward and reverse operations, the tension of the first rope 61 and the second rope 62 can reach the preset tension, achieving constant tension of the first rope 61 and the second rope 62. This improves the tension of the first rope 61 and the second rope 62 without damaging them, minimizing the transmission backlash difference and effectively improving the transmission accuracy of the drive device 100. In the working mode, the drive shaft 21 is configured to drive the first drive wheel 30 and the second drive wheel 40 to rotate in the first direction, and the first rope 61 can drive the driven wheel 50 and the load 200 to rotate in the first direction; and can drive the second drive wheel 40 to rotate in the second direction, and the second rope 62 can drive the driven wheel 50 and the load 200 to rotate in the second direction.

[0049] It should be noted that the various modes and their names in this application are merely illustrative. This application protects the functions that each mode can achieve, not the mode itself or its name. For example, the fact that the drive device 100 in this embodiment has a tensioning mode and a working mode only indicates that the drive device 100 in this embodiment has tensioning and working functions, and does not necessarily require the existence of a corresponding mode. In addition, the names of the tensioning mode and the working mode can also be adjusted according to actual needs. Technical solutions that achieve the functions protected by this application using methods different from those described in this application are covered within the scope of protection of this application.

[0050] For example, the first preset angle and the second preset angle may be the same or different.

[0051] For example, in the forward and reverse operation, the second driving wheel 40 is driven to rotate along the second direction, and the first driving wheel 30 is driven to rotate along the first direction; the order of these actions is not limited. For example, the forward and reverse operation includes first driving the second driving wheel 40 to rotate along the second direction, and then driving the first driving wheel 30 to rotate along the first direction. In other embodiments, the forward and reverse operation may also include first driving the first driving wheel 30 to rotate along the first direction, and then driving the second driving wheel 40 to rotate along the second direction.

[0052] At least two forward / reverse operations include two, three, four, five, or more forward / reverse operations. Before the drive device 100 performs the first and second forward / reverse operations, the tension of both the first rope portion 61 and the second rope portion 62 is less than a preset tension. For example, in response to the drive device 100 being in tension mode, the drive device 100 is configured to perform two forward / reverse operations to bring the tension of the first rope portion 61 and the second rope portion 62 to the preset tension. Thus, while ensuring reliable tension of the first rope portion 61 and the second rope portion 62 to effectively improve transmission accuracy, the number of forward / reverse operations performed by the drive device 100 is reduced, which helps reduce the power consumption of the drive device 100 and simplifies the control of the drive device 100.

[0053] For example, such as Figure 3 Both the first rope portion 61 and the second rope portion 62 are loose. If the first rope portion 61 and the second rope portion 62 are not tensioned, when the drive shaft 21 rotates in the first or second direction to drive the driven wheel 50, it will experience a large backlash, meaning the drive shaft 21 rotates while the driven wheel 50 does not respond, resulting in very low transmission accuracy. Therefore, in this embodiment, the drive device 100 is configured to perform forward and reverse rotation operations to tension the first rope portion 61 and the second rope portion 62. After the drive device 100 performs one forward and reverse rotation operation, the first rope portion 61 and the second rope portion 62 are tensioned to a certain extent, such that the first rope portion 61 and the second rope portion 62 are tensioned to the point where... Figure 4 As shown. After the drive unit 100 performs at least two forward and reverse operations, the first rope section 61 and the second rope section 62 are tensioned to the specified tension. Figure 5 As shown. Among them, Figure 5 The tension of the first rope section 61 and the second rope section 62 is greater than Figure 4 The tension of the first rope section 61 and the second rope section 62. Exemplarily, Figure 5 The tension of the first rope section 61 and the second rope section 62 in the middle reaches the preset tension.

[0054] In some embodiments, when the drive device 100 is in tension mode, the drive device 100 is configured to perform two forward and reverse rotation operations, namely a first forward and reverse rotation operation and a second forward and reverse rotation operation. For example, the first forward and reverse rotation operation specifically includes: the drive shaft 21 is configured to drive the second drive wheel 40 to rotate in the second direction when rotating in the second direction; firstly, the loose second rope portion 62 is wound around the second drive wheel 40, making the loose second rope portion 62 taut; after the second rope portion 62 is taut, it drives the driven wheel 50 to rotate in the second direction. During the rotation of the drive shaft 21 in the second direction, the first drive wheel 30 is prevented from rotating by the resistance mechanism 222, and the loose first rope portion 61 is wound around the driven wheel 50, achieving a certain degree of tension on the first rope portion 61. Since the first rope portion 61 can be wound around the driven wheel 50 to a certain extent when the second rope portion 62 is taut due to the rotation of the drive shaft 21 in the second direction, the first rope portion 61 may still be loose and not taut. At this time, the drive shaft 21 can be controlled to rotate in the first direction, driving the first drive wheel 30 to rotate in the first direction. The loose part of the first rope portion 61 is wound around the first drive wheel 30 to make the first rope portion 61 taut. After the first rope portion 61 is taut, it drives the driven wheel 50 to rotate in the first direction. During the process of the drive shaft 21 driving the first drive wheel 30 to rotate in the first direction, the second rope portion 62 is always taut. The second drive wheel 40 can unwind the second rope portion 62, and the second rope portion 62 can be wound around, that is, wound up, onto the driven wheel 50. After the drive device 100 performs the first forward and reverse operation, the states of the first rope portion 61 and the second rope portion 62 are as follows: Figure 4 As shown.

[0055] After the first forward and reverse rotation operation described above, both the first rope section 61 and the second rope section 62 are taut, but the tension of both the first rope section 61 and the second rope section 62 is less than the preset tension. To further improve transmission accuracy, a second forward and reverse rotation operation can be performed after the drive device 100 performs the first forward and reverse rotation operation. For example, the second forward and reverse rotation operation includes: the drive device 100 is configured such that after the drive device 100 performs the first forward and reverse rotation operation, the drive shaft 21 can rotate in a second direction to drive the second drive wheel 40 to rotate in a second direction, thereby winding up the second rope section 62; the second rope section 62 can drive the driven wheel 50 to rotate in a second direction under the drive of the second drive wheel 40. Because the first driving wheel 30 is resisted by the resistance mechanism 222, this resistance is transmitted from the first driving wheel 30 to the driven wheel 50 via the first rope 61. During this antagonistic process, the second rope 62 is first tensioned to a preset tension, and then overcomes the resistance, causing the driven wheel 50, the first rope 61, and the first driving wheel 30 to move together, thus completing the tensioning of the second rope 62. Since both the second rope 62 and the first rope 61 are connected to the driven wheel 50, it can be seen from the force balance that the first rope 61 is also tensioned to the same preset tension. During this tensioning process, creep or plastic elongation may occur due to the stretching of the rope portion (such as the first rope portion 61 or the second rope portion 62). To address this, the drive shaft 21 can be further controlled to rotate in the first direction. The drive shaft 21 drives the first drive wheel 30 to rotate in the first direction, allowing the creep or plastic elongation of the first rope portion 61 to be wrapped around the first drive wheel 30, thus absorbing the creep or plastic elongation. Similarly, the driven wheel 50 rotating in the first direction can wrap the creep or plastic elongation of the second rope portion 62 around the driven wheel 50, absorbing the creep or plastic elongation of the second rope portion. This ensures reliable tensioning of the first rope portion 61 and the second rope portion 62, effectively reducing backlash and maximizing transmission accuracy. For example, after the first and second forward / reverse operations, the tension of both the first rope portion 61 and the second rope portion 62 reaches the preset tension without any transmission backlash. After the drive device 100 performs the above two forward and reverse operations, the states of the first rope section 61 and the second rope section 62 are as follows: Figure 5 As shown.

[0056] For example, during the forward and reverse rotation of the drive device 100, the first rope section 61 and the second rope section 62 undergo three stages: from loose to taut and then to tensioned to a preset tension. This tensioning process can be synchronized with the forward and reverse rotation that the drive device 100 must perform in its working mode, thus maintaining the tension of the first rope section 61 and the second rope section 62 at all times.

[0057] In some embodiments, the drive device 100 is configured such that when the tension of the first rope portion 61 and the second rope portion 62 reaches a preset tension, the drive device 100 can enter a working mode to drive the load 200 to rotate. When the tension of the first rope portion 61 and the second rope portion 62 reaches the preset tension, the transmission backlash difference between the first rope portion 61 and the second rope portion 62 is small or even zero, and the transmission rope structure 60 has good transmission accuracy. Therefore, the drive device 100 can efficiently drive the load 200 to rotate in the working mode.

[0058] In some embodiments, the preset tension force is equal to or approximately equal to the resistance of the resistance mechanism 222. By setting the resistance mechanism 222, on the one hand, when the drive shaft 21 rotates in the second direction and the driven wheel 50 also rotates in the second direction, it can, to a certain extent, prevent the first drive wheel 30 from rotating, thereby allowing the first rope portion 61 to follow the driven wheel, thus achieving the effect of winding the first rope portion 61. Simultaneously, the magnitude of the resistance of the resistance mechanism 222 can also be used to determine the magnitude of the preset tension force of the first rope portion 61 or the second rope portion 62; adjusting the resistance of the resistance mechanism 222 sets the preset tension force. For example, the preset tension force being approximately equal to the resistance of the resistance mechanism 222 includes: the absolute value of the difference between the preset tension force and the resistance of the resistance mechanism 222 being less than or equal to a preset threshold. The preset threshold can be designed according to actual needs.

[0059] In some embodiments, the resistance mechanism 222 includes at least one of the following: a damping rubber ring, a snap-fit ​​structure, and a magnetic structure. Exemplarily, the resistance mechanism 222 includes a damping rubber ring disposed between the base 10 and the first drive wheel 30. Friction can be generated between the damping rubber ring and the first drive wheel 30, and the resistance of the resistance mechanism 222 includes the frictional force of the damping rubber ring on the first drive wheel 30. In other embodiments, the resistance mechanism 222 may also include any other suitable structure, such as a damping spring, as long as it can apply resistance to the rotation of the first drive wheel 30.

[0060] In some embodiments, the diameters of the first driving wheel 30 and the second driving wheel 40 are equal. This ensures the synchronization and stability of the transmission.

[0061] Please see Figure 6 In some embodiments, the first rope portion 61 and the second rope portion 62 are respectively disposed on both sides of the driven wheel 50. In this way, the first rope portion 61 and the second rope portion 62 can act on both sides of the driven wheel 50 as much as possible, thereby facilitating the reciprocating rotation of the load 200.

[0062] Please see Figure 7In some embodiments, the drive device 100 further includes a sensor 70 for detecting the rotation angle of the driven wheel 50, and the drive mechanism 20 is configured to adjust its rotation direction according to this rotation angle. Thus, the drive device 100 can control the rotation direction of the drive shaft 21 of the drive mechanism 20 based on the rotation angle detected by the sensor 70, to precisely control the rotation of the drive shaft 21 to achieve the winding of the first rope portion 61 and the winding of the second rope portion 62. In some embodiments, in tension mode, when the sensor 70 detects that the driven wheel 50 rotates a second preset angle along a second direction, the drive device 100 controls the drive shaft 21 of the drive mechanism 20 to rotate along a first direction. When the sensor 70 detects that the driven wheel 50 rotates a first preset angle along the first direction, the drive device 100 controls the drive shaft 21 of the drive mechanism 20 to rotate along a second direction. Exemplarily, the first preset angle and the second preset angle are the same. In other embodiments, the first preset angle and the second preset angle may also be different. The sensor 70 may include a contact sensor or a non-contact sensor. For example, sensor 70 may include a non-contact sensor, which can measure the rotation angle of the drive wheel 50 without mechanical contact, avoiding component wear caused by mechanical contact and improving service life and stability. Non-contact sensor 70 includes at least one of the following: an encoder, a Hall sensor 70, etc.

[0063] In some embodiments, the driven wheel 50 rotates within a preset range, which is less than 180°. For example, the preset range is 10°, 30°, 60°, 90°, 120°, 170°, or any other suitable value between 10° and 170°. Since the driven wheel 50 is connected to the load 200, the rotation range of the driven wheel 50 can be determined according to the stroke of the load 200.

[0064] In some embodiments, the first rope portion 61 and the second rope portion 62 are separately provided; or, the first rope portion 61 and the second rope portion 62 are two segments of the same rope. Exemplarily, the first rope portion 61 and the second rope portion 62 are separately provided, and are two ropes. The two ends of the first rope portion 61 are respectively connected to the first driving pulley 30 and the driven pulley 50, and the two ends of the second rope portion 62 are respectively connected to the second driving pulley 40 and the driven pulley 50.

[0065] The first rope portion 61 and / or the second rope portion 62 can be any suitable rope body, such as including at least one of the following: metal rope body, fiber rope body, etc. For example, the first rope portion 61 and / or the second rope portion 62 includes a tendon rope.

[0066] For example, the rotation axis of the first drive wheel 30 and the rotation axis of the second drive wheel 40 coincide, which makes the structure of the drive device 100 more compact and reduces the space occupied by the drive device 100. In other embodiments, the rotation axis of the first drive wheel 30 and the rotation axis of the second drive wheel 40 may not coincide.

[0067] For example, the first driving wheel 30, the second driving wheel 40 and the driven wheel 50 are all provided with rope grooves (not shown). The first rope portion 61 can be wound around the rope groove of the first driving wheel 30 and the rope groove of the driven wheel 50; the second rope portion 62 can be wound around the rope groove of the second driving wheel 40 and the rope groove of the driven wheel 50.

[0068] For example, the housing of the drive unit 23 of the drive mechanism 20 is connected to the base 10, and the connection method includes at least one of the following: threaded connection, snap-fit ​​connection, magnetic connection, adhesive connection, screw locking connection, etc. The second drive wheel 40 is connected to the drive shaft 21, and the connection method includes at least one of the following: flat connection, interference fit connection, etc. The second drive wheel 40 can rotate synchronously with the drive shaft 21. The inner ring 2211 of the one-way bearing 221 is connected to the drive shaft 21, and the connection method includes at least one of the following: interference fit connection, transition fit connection, clearance fit connection, key connection, adhesive connection, etc., as long as the one-way transmission capability of the one-way bearing 221 can be guaranteed. The first drive wheel 30 is connected to the outer ring 2212 of the one-way bearing 221, and the connection method includes at least one of the following: adhesive connection, interference fit connection, key connection, etc., as long as the first drive wheel 30 and the outer ring 2212 of the one-way bearing 221 move synchronously and transmit the necessary torque. The resistance ring of the resistance mechanism 222 is interference-fitted with the inner hole of the base 10 and the first drive wheel 30. The resistance of the resistance ring to the first drive wheel 30 is the preset tension of the first rope portion 61 and the second rope portion 62. A bearing can be installed between the base 10 and the drive shaft 21 to improve the rigidity of the shaft system. The first rope portion 61 is fixedly connected to the first drive wheel 30. The connection method can include at least one of the following: crimp terminal, knot, adhesive bonding, or welding, ensuring that the end of the first rope portion 61 moves with the first drive wheel 30. The excess portion of the first rope portion 61 can be wound in the winding groove of the first drive wheel 30. The second rope portion 62 is fixedly connected to the second drive wheel 40. The connection method can include at least one of the following: crimp terminal, knot, adhesive bonding, or welding. The end of the second rope portion 62 moves with the second drive wheel 40. The excess portion of the second rope portion 62 can be wound in the winding groove of the second drive wheel 40. The base 10 includes at least two separate parts, for example, the base 10 includes two separate parts to facilitate the assembly of the base 10, the drive mechanism 20, the first drive wheel 30, the second drive wheel 40 and the driven wheel 50.

[0069] Please see Figure 6 For example, a connecting bearing 80 may be provided between the driven wheel 50 and the base 10 so that the driven wheel 50 and the base 10 are rotatably connected.

[0070] This invention also provides a dexterous hand, including a drive device 100 as described in any of the above embodiments and a load 200, wherein the load 200 is connected to the drive device 100.

[0071] For example, load 200 is one or more fingers.

[0072] This invention also provides a robot, including a drive device 100 as described in any of the above embodiments and a load 200, wherein the load 200 is connected to the drive device 100.

[0073] For example, the load 200 is drivenly connected to the driven wheel 50 of the drive device 100. The load 200 can be directly connected to the driven wheel 50, or it can be connected to the driven wheel 50 through an intermediate structure. The load 200 can be drivenly connected to any suitable position of the driven wheel 50, without limitation.

[0074] For example, the payload 200 can be any suitable component of the robot, such as the robot's head, torso, robotic arm, etc.

[0075] This invention also provides a control method for a drive device 100. This control method controls the drive device 100 to tension the first rope portion 61 and the second rope portion 62 of the drive device 100, thereby improving transmission accuracy. The drive device 100 includes the drive device 100 of any of the above embodiments.

[0076] Please see Figure 8 In some embodiments, the control method of the drive device 100 includes steps S101 and S102.

[0077] S101, the control drive mechanism 20 drives the first drive wheel 30 to rotate along the first direction to wind up the first rope portion 61, wherein the first drive wheel 30 is connected to the driven wheel 50 through the first rope portion 61, and the driven wheel 50 is configured to be connected to the load 200.

[0078] S102, the control drive mechanism 20 drives the second drive wheel 40 to rotate in a second direction opposite to the first direction to wind up the second rope portion 62, wherein the second drive wheel 40 is connected to the driven wheel 50 through the second rope portion 62.

[0079] It should be noted that the execution order of steps S101 and S102 is not limited in the embodiments of this application.

[0080] The control method of the drive device 100 in the above embodiment, because the drive mechanism 20 of the drive device 100 can drive the first drive wheel 30 to rotate along the first direction to wind up the first rope 61, so as to compensate for the deformation of the first rope 61 during the use, storage or assembly of the drive device 100; and can drive the second drive wheel 40 to rotate along the second direction opposite to the first direction to wind up the second rope 62, so as to compensate for the deformation of the second rope 62 during the use, storage or assembly of the drive device 100, ensures that the first rope 61 and the second rope 62 remain taut when used to drive the load 200, reduces or even avoids the backlash difference when the drive device 100 drives the load 200, thereby improving the transmission accuracy and service life of the transmission rope structure 60, and thus improving the reliability of the drive device 100, providing a guarantee for precise control of the load 200. This drive device 100 has a reasonable structural design, can realize automatic tensioning of the first rope 61 and the second rope 62 without manual tensioning, and is simple and convenient to operate.

[0081] In some embodiments, the drive mechanism 20 includes a drive shaft 21 and a one-way transmission mechanism 22.

[0082] In step S101, the control drive mechanism 20 drives the first drive wheel 30 to rotate along the first direction to wind up the first rope portion 61, including: The drive shaft 21 is controlled to rotate along the first direction. The drive shaft 21 drives the first drive wheel 30 to rotate along the first direction through the one-way transmission mechanism 22 to wind up the first rope 61. The drive shaft 21 can also drive the second drive wheel 40 to rotate along the first direction. In step S102, the control drive mechanism 20 drives the second drive wheel 40 to rotate in a second direction opposite to the first direction to wind up the second rope portion 62, including: The drive shaft 21 is controlled to rotate in the second direction, and the drive shaft 21 drives the second drive wheel 40 to rotate in the second direction to wind up the second rope 62. The drive shaft 21 cannot drive the first drive wheel 30 to rotate in the second direction through the one-way transmission mechanism 22.

[0083] In some embodiments, the one-way transmission mechanism 22 includes a one-way bearing 221 and a resistance mechanism 222.

[0084] In step S101, the control drive mechanism 20 drives the first drive wheel 30 to rotate along the first direction to wind up the first rope portion 61, including: The drive shaft 21 is controlled to rotate in the first direction. The drive shaft 21 drives the first drive wheel 30 through the one-way bearing 221 and overcomes the resistance of the resistance mechanism 222 to rotate in the first direction, thereby winding up the first rope 61. In step S102, the control drive mechanism 20 drives the second drive wheel 40 to rotate in a second direction opposite to the first direction to wind up the second rope portion 62, including: The drive shaft 21 is controlled to rotate in the second direction. The drive shaft 21 drives the second drive wheel 40 to rotate in the second direction to wind up the second rope 62, but cannot directly drive the first drive wheel 30 to rotate in the second direction.

[0085] In some embodiments, in step S101, controlling the drive mechanism 20 to drive the first drive wheel 30 to rotate along a first direction to wind up the first rope portion 61 includes: The control drive mechanism 20 drives the first driving wheel 30 to rotate along the first direction until the driven wheel 50 rotates to the first preset angle; In step S102, the control drive mechanism 20 drives the second drive wheel 40 to rotate in a second direction opposite to the first direction to wind up the second rope portion 62, including: The control drive mechanism 20 drives the second driving wheel 40 to rotate along the second direction until the driven wheel 50 rotates to the second preset angle.

[0086] In some embodiments, the control method further includes: controlling the drive mechanism 20 to switch to rotation in a second direction in response to the driven wheel 50 rotating to a first preset angle; and / or, controlling the drive mechanism 20 to switch to rotation in a first direction in response to the driven wheel 50 rotating to a second preset angle.

[0087] In some embodiments, in response to the drive device 100 being in tension mode, the drive device 100 is controlled to perform at least two forward and reverse rotation operations to make the tension of the first rope portion 61 and the second rope portion 62 reach a preset tension. The forward and reverse rotation operations include driving the second drive wheel 40 to rotate along the second direction to wind up the second rope portion 62 and driving the first drive wheel 30 to rotate along the first direction to wind up the first rope portion 61. The tension mode is located before the operating mode of the drive device 100.

[0088] It should be noted that the implementation methods (including execution steps, principles, effects, etc.) of the control method described in the embodiments of this application can be referred to the description of the aforementioned driving device. For the sake of text brevity, they will not be repeated here.

[0089] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0090] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0091] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," "mechanical coupling," and "coupling" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and can refer to the internal communication of two components or the interaction between two components. Mechanical coupling or coupling of two components includes direct coupling and indirect coupling, such as a direct fixed connection or a connection through a transmission mechanism. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0092] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0093] The foregoing disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described above. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0094] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific method step, feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0095] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A driving device, characterized in that, include: Base; The drive mechanism is located on the base; The first drive wheel is connected to the drive mechanism via a transmission connection. The second drive wheel is connected to the drive mechanism via a transmission connection. Driven wheel, rotatably connected to the base, the driven wheel being configured to be connected to a load; The transmission rope structure includes a first rope section and a second rope section. The first driving wheel is connected to the driven wheel through the first rope section, and the second driving wheel is connected to the driven wheel through the second rope section. The first rope section and the second rope section are respectively used to drive the driven wheel to rotate in different directions so that the load can rotate in different directions. The drive mechanism is configured to drive the first drive wheel to rotate along a first direction to wind up the first rope portion, and to drive the second drive wheel to rotate along a second direction opposite to the first direction to wind up the second rope portion. The drive mechanism includes a drive shaft and a one-way transmission mechanism. The drive shaft is connected to the first drive wheel through the one-way transmission mechanism, and the first drive wheel is not connected to the drive shaft through the second drive wheel. The drive shaft is connected to the second drive wheel. The drive shaft is configured such that, when rotating along the first direction, it can drive the first drive wheel to rotate along the first direction to wind up the first rope portion via the one-way transmission mechanism, and the drive shaft can drive the second drive wheel to rotate along the first direction; the drive shaft is also configured such that, when rotating along the second direction, it can drive the second drive wheel to rotate along the second direction to wind up the second rope portion, but cannot drive the first drive wheel to rotate along the second direction via the one-way transmission mechanism. The drive device has a tensioning mode; In the tensioning mode, the drive mechanism is configured to drive the first drive wheel to rotate in a first direction to wind up and tension the first rope portion; the drive mechanism is configured to drive the second drive wheel to rotate in a second direction opposite to the first direction to wind up and tension the second rope portion; and a one-way transmission mechanism prevents the first drive wheel from rotating in the second direction when the drive mechanism drives the second drive wheel to rotate in the second direction.

2. The driving device according to claim 1, characterized in that, The one-way transmission mechanism includes a one-way bearing and a resistance mechanism. The one-way bearing includes an inner ring connected to the drive shaft and an outer ring sleeved outside the inner ring. The one-way bearing is configured such that when the inner ring rotates along the first direction, the outer ring follows the inner ring and rotates along the first direction; when the inner ring rotates along the second direction, the inner ring and the outer ring are relatively free, and the inner ring cannot drive the outer ring to rotate along the second direction. The first drive wheel is connected to the outer ring, and the outer ring and / or the first drive wheel are in contact with the resistance mechanism. The drive shaft is configured to drive the first drive wheel via the one-way bearing and overcome the resistance of the resistance mechanism to rotate along the first direction when rotating in the first direction, thereby winding up the first rope portion; The drive shaft is configured to drive the second drive wheel to rotate in the second direction to wind up the second rope portion when rotating in the second direction, but cannot directly drive the first drive wheel to rotate in the second direction.

3. The driving device according to claim 2, characterized in that, The drive shaft is configured such that, when rotating along the first direction, it can drive the first drive wheel to overcome the resistance of the resistance mechanism and rotate along the first direction via the one-way bearing, thereby winding up the first rope portion. The first rope portion can drive the driven wheel to rotate along the first direction and drive the second rope portion to be wound onto the driven wheel. The drive shaft is configured to drive the second drive wheel to rotate along the second direction to wind up the second rope portion when rotating along the second direction. The second rope portion can drive the driven wheel to rotate along the second direction and drive the first rope portion to be wound up by the driven wheel.

4. The driving device according to claim 2, characterized in that, The drive shaft is configured to drive the second drive wheel to rotate along the second direction to wind up the second rope portion when rotating along the second direction. The second rope portion can drive the driven wheel to rotate along the second direction and drive the first rope portion to be wound onto the driven wheel until the tension of the first rope portion gradually increases to be greater than or equal to the resistance of the resistance mechanism. At this point, the first rope portion can drive the first drive wheel to overcome the resistance of the resistance mechanism and rotate along the second direction.

5. The driving device according to claim 4, characterized in that, The drive device is configured such that when the tension of the first rope portion and the second rope portion is greater than or equal to the resistance of the resistance mechanism, the drive shaft can drive the first drive wheel and the second drive wheel to rotate along the first direction, the first rope portion can drive the driven wheel and the load to rotate along the first direction, the driven wheel can drive the second rope portion to unwind from the second drive wheel and wind up onto the driven wheel, the drive shaft can drive the second drive wheel to rotate along the second direction, the second rope portion can drive the driven wheel and the load to rotate along the second direction, and the driven wheel can drive the first rope portion to unwind from the first drive wheel and wind up onto the driven wheel.

6. The driving device according to any one of claims 1 to 5, characterized in that, The drive device also has an operating mode, the tensioning mode being located prior to the operating mode; in response to the drive device being in the tensioning mode, the drive device is configured to perform at least two forward and reverse rotation operations to cause the tension of the first rope portion and the second rope portion to reach a preset tension, wherein the forward and reverse rotation operations include driving the second drive wheel to rotate along the second direction to cause the driven wheel to rotate by a second preset angle and driving the first drive wheel to rotate along the first direction to cause the driven wheel to rotate by a first preset angle.

7. The driving device according to claim 6, characterized in that, The drive device is configured to enter the working mode to drive the load to rotate when the tension of the first rope and the second rope reaches a preset tension.

8. The driving device according to claim 6, characterized in that, The drive mechanism includes a resistance mechanism, and the preset tension force is equal to or approximately equal to the resistance of the resistance mechanism.

9. The driving device according to any one of claims 1 to 5, characterized in that, The resistance mechanism of the drive mechanism includes at least one of the following: a damping rubber ring, a snap-fit ​​structure, and a magnetic structure.

10. The driving device according to any one of claims 1 to 5, characterized in that, The first driving wheel and the second driving wheel have the same wheel diameter.

11. The driving device according to any one of claims 1 to 5, characterized in that, The first rope portion and the second rope portion are respectively located on both sides of the driven wheel.

12. The driving device according to any one of claims 1 to 5, characterized in that, Also includes: A sensor is used to detect the rotation angle of the driven wheel, and the drive mechanism is configured to adjust its rotation direction according to the rotation angle.

13. The driving device according to any one of claims 1 to 5, characterized in that, The driven wheel is configured to rotate within a preset range, which is less than 180°.

14. The driving device according to any one of claims 1 to 5, characterized in that, The first rope portion and the second rope portion are separately disposed; or, the first rope portion and the second rope portion are two segments of the same rope.

15. A dexterous hand, characterized in that, include: The drive device as described in any one of claims 1-14; as well as, The load is connected to the drive device.

16. A robot, characterized in that, include: The drive device as described in any one of claims 1-14; as well as The load is connected to the drive device.

17. A control method for a drive device, characterized in that, The control method includes: A control drive mechanism drives a first drive wheel to rotate in a first direction to wind up a first rope portion, wherein the first drive wheel is drively connected to a driven wheel via the first rope portion, and the driven wheel is configured to be connected to a load; and The drive mechanism is controlled to drive the second drive wheel to rotate in a second direction opposite to the first direction to wind up the second rope portion, wherein the second drive wheel is connected to the driven wheel via the second rope portion; The drive mechanism includes a drive shaft and a one-way transmission mechanism. The drive shaft is connected to the first drive wheel through the one-way transmission mechanism, and the first drive wheel is not connected to the drive shaft through the second drive wheel. The drive shaft is connected to the second drive wheel. The control drive mechanism drives the first drive wheel to rotate along a first direction to wind up the first rope portion, including: The drive shaft is controlled to rotate along the first direction. The drive shaft drives the first drive wheel to rotate along the first direction through the one-way transmission mechanism to wind up the first rope. The drive shaft can also drive the second drive wheel to rotate along the first direction. The control drive mechanism drives the second drive wheel to rotate in a second direction opposite to the first direction to wind up the second rope portion, including: The drive shaft is controlled to rotate along the second direction, and the drive shaft drives the second drive wheel to rotate along the second direction to wind up the second rope. The drive shaft cannot drive the first drive wheel to rotate along the second direction through the one-way transmission mechanism. The drive device has a tensioning mode; In the tensioning mode, the drive mechanism is configured to drive the first drive wheel to rotate in a first direction to wind up and tension the first rope portion; the drive mechanism is configured to drive the second drive wheel to rotate in a second direction opposite to the first direction to wind up and tension the second rope portion; and a one-way transmission mechanism prevents the first drive wheel from rotating in the second direction when the drive mechanism drives the second drive wheel to rotate in the second direction.

18. The control method according to claim 17, characterized in that, The drive mechanism includes a drive shaft and a one-way transmission mechanism, and the one-way transmission mechanism includes a one-way bearing and a resistance mechanism. The control drive mechanism drives the first drive wheel to rotate along a first direction to wind up the first rope portion, including: The drive shaft is controlled to rotate along the first direction. The drive shaft drives the first drive wheel through the one-way bearing and overcomes the resistance of the resistance mechanism to rotate along the first direction, thereby winding up the first rope section. The control drive mechanism drives the second drive wheel to rotate in a second direction opposite to the first direction to wind up the second rope portion, including: The drive shaft is controlled to rotate along the second direction, and the drive shaft drives the second drive wheel to rotate along the second direction to wind up the second rope portion, but cannot directly drive the first drive wheel to rotate along the second direction.

19. The control method according to any one of claims 17 to 18, characterized in that, The control drive mechanism drives the first drive wheel to rotate along a first direction to wind up the first rope portion, including: The control drive mechanism drives the first driving wheel to rotate along the first direction until the driven wheel rotates to the first preset angle; The control drive mechanism drives the second drive wheel to rotate in a second direction opposite to the first direction to wind up the second rope portion, including: The control drive mechanism drives the second driving wheel to rotate along the second direction until the driven wheel rotates to the second preset angle.

20. The control method according to claim 19, characterized in that, Also includes: In response to the driven wheel rotating to the first preset angle, the drive mechanism is controlled to switch to the second direction of rotation; And / or, in response to the driven wheel rotating to the second preset angle, control the drive mechanism to switch to rotating in the first direction.

21. The control method according to claim 17, characterized in that, The control method further includes: In response to the drive device being in tension mode, the drive device is controlled to perform at least two forward and reverse rotation operations to make the tension of the first rope and the second rope reach a preset tension. The forward and reverse rotation operations include driving the second drive wheel to rotate along the second direction to wind up the second rope and driving the first drive wheel to rotate along the first direction to wind up the first rope. The tension mode is located before the operating mode of the drive device.

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