Manipulator and robot

Abstract

The utility model provides a manipulator and a robot. The manipulator comprises a base frame, a driving mechanism, a transmission mechanism and a joint assembly. The driving mechanism comprises a first motor and a second motor. A swing part of the transmission mechanism is rotationally assembled on the base frame, and the driving rope assembly is connected with the first motor, the second motor, the rotating assembly and the swing part so that the first motor and the second motor can drive the rotating assembly and the swing part to rotate through the driving rope assembly. The swing part and the joint body are assembled and fixed, and at least one part of the driving rope assembly is wound around the joint driving wheel. On the basis of the two motors and control over the rotating directions of the two motors, driving of the rotating assembly and the swing piece is achieved in cooperation with the driving rope assembly. When the driving rope assembly drives the joint driving wheel of the joint assembly to rotate, the joint body can be bent, and when the swing piece rotates, the joint body can swing. According to the mechanism, two actions of bending and swinging of the joint main body are realized by matching the two motors with the rope drive, the structure is simple, and the occupied space is small.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular to manipulators and robots. Background Art

[0002] Compared with traditional grippers, current manipulators are gradually developing towards flexible movement, powerful grasping, and miniaturized structure. Therefore, the requirements for degrees of freedom, stable control of grasping actions, and compact structure increase accordingly.

[0003] However, in related technologies, the increase in degrees of freedom often leads to an increase in the number of drive motors, which results in a larger overall size of the manipulator structure, and is not conducive to assembly and disassembly and cost control. However, due to the limitation of motor type and number, the manipulator with miniaturization features has technical problems such as less degrees of freedom and insufficient gripping force. Utility Model Content

[0004] The present disclosure provides a manipulator and a robot to solve related technical problems.

[0005] A first aspect of the present disclosure provides a manipulator, comprising: a base frame, a driving mechanism, a transmission mechanism and a joint assembly;

[0006] The driving mechanism is assembled on the base frame, and the driving mechanism includes a first motor and a second motor;

[0007] The transmission mechanism comprises a rotating assembly, a swinging member and a driving rope assembly; the swinging member is rotatably assembled on the base frame; the driving rope assembly is respectively connected to the first motor, the second motor, the rotating assembly and the swinging member, so that the first motor and the second motor drive the rotating assembly and the swinging member to rotate through the driving rope assembly;

[0008] The joint assembly includes a joint body and at least one joint driving wheel assembled on the joint body; the swinging member is assembled and fixed to the joint body, and at least a part of the driving rope assembly is wound around the joint driving wheel.

[0009] Optionally, the rotating assembly includes a first rotating member, a second rotating member, a third rotating member, and a fourth rotating member; the driving rope assembly includes a first driving rope, a second driving rope, a third driving rope, a fourth driving rope, and a fifth driving rope; the first rotating member and the swinging member are respectively rotatably assembled on the base frame, and the second rotating member, the third rotating member, and the fourth rotating member are rotatably assembled on the first rotating member;

[0010] The first driving rope is respectively wound around the third rotating member and the second rotating member, and one end of the first driving rope is connected to the output end of the first motor, and the other end is fixed to the second rotating member; the second driving rope is respectively wound around the fourth rotating member and the second rotating member, and one end of the second driving rope is connected to the output end of the second motor, and the other end is fixed to the second rotating member; the winding directions of the first driving rope and the second driving rope are opposite;

[0011] The third driving rope and the fourth driving rope are wound around the second rotating member and / or the swinging member in opposite directions, and ends of the third driving rope are respectively fixed to the second rotating member and the swinging member, and both ends of the fourth driving rope are respectively fixed to the second rotating member and the swinging member; one end of the fifth driving rope is fixed to the first rotating member, and the fifth driving rope is wound around the joint driving wheel.

[0012] Optionally, the transmission mechanism further comprises a bracket, a first bearing and a second bearing; the bracket is assembled on the base frame;

[0013] The inner ring of the first bearing is assembled and fixed with the first rotating member, and the outer ring of the first bearing is assembled and fixed with the third rotating member and the fourth rotating member respectively;

[0014] The inner ring of the second bearing is assembled and fixed to the third rotating member and the fourth rotating member respectively, and the outer ring of the second bearing is assembled and fixed to the bracket.

[0015] Optionally, the first rotating member includes a first rotating body and an extension shaft disposed on the first rotating body; and the second rotating member is rotatably connected to the extension shaft to rotate around the extension shaft.

[0016] Optionally, the axial direction of the extension shaft is perpendicular to the rotational axis of the first rotating body.

[0017] Optionally, the transmission mechanism further includes a pair of guide members assembled on the base frame, the guide members including a guide portion extending perpendicularly to the axial direction of the second rotating member; the first drive rope and the second drive rope respectively pass through the guide portion and then are wound around the second rotating member.

[0018] Optionally, the swinging member includes a rotating structure and a swinging structure radially arranged on one side of the rotating structure; the third drive rope and the fourth drive rope are wound around the two ends of the swinging structure in opposite directions; the third drive rope and the fourth drive rope are wound around the rotating structure in opposite directions, and the ends of the third drive rope and the fourth drive rope are fixed to the rotating structure.

[0019] Optionally, the rotating structure is provided with a first hole and a second hole which are interconnected, and the fifth driving rope passes through the rotating structure via the first hole and the second hole.

[0020] Optionally, the swing structure is located on one side of the rotating structure in the first radial direction; the joint body is provided with a third hole, and the fifth drive rope is connected to the joint driving wheel via the third hole; in the first radial direction, the projection of the third hole coincides with the first hole.

[0021] Optionally, the transmission mechanism further comprises at least one third direction conversion wheel rotatably assembled on the base frame; at least a part of the third driving rope is matched with the third direction conversion wheel to divide the third driving rope into a third section located between the third direction conversion wheel and the second rotating member and a fourth section located between the third direction conversion wheel and the swing structure; the extension direction of the third section is perpendicular to the rotation axis of the second rotating member; the extension direction of the fourth section is perpendicular to the extension direction of the swing structure;

[0022] And / or, the transmission mechanism also includes at least one fourth direction conversion wheel rotatably assembled on the base frame; at least a portion of the fourth drive rope is matched with the fourth direction conversion wheel to divide the fourth drive rope into a fifth section located between the fourth direction conversion wheel and the second rotating member and a sixth section located between the fourth direction conversion wheel and the swing structure; the extension direction of the fifth section is perpendicular to the rotation axis of the second rotating member; the extension direction of the sixth section is perpendicular to the extension direction of the swing structure.

[0023] Optionally, the transmission mechanism further comprises at least one first direction conversion wheel rotatably assembled on the base frame; at least a portion of the first driving rope is matched with the first direction conversion wheel to divide the first driving rope into a first section located between the first direction conversion wheel and the output end of the first motor and a second section located between the first direction conversion wheel and the third rotating member; the extension direction of the first section is perpendicular to the output direction of the first motor; the extension direction of the second section is perpendicular to the rotation axis of the third rotating member;

[0024] And / or, the transmission mechanism also includes at least one second direction conversion wheel rotatably assembled on the base frame; at least a portion of the second drive rope is engaged with the second direction conversion wheel to divide the second drive rope into a third section located between the second direction conversion wheel and the output end of the second motor and a fourth section located between the second direction conversion wheel and the fourth rotating member; an extension direction of the third section is perpendicular to the output direction of the second motor; an extension direction of the fourth section is perpendicular to the rotation axis of the fourth rotating member.

[0025] Optionally, the transmission mechanism also includes at least one fifth direction conversion wheel rotatably assembled on the base frame; at least a portion of the fifth drive rope is engaged with the fifth direction conversion wheel to divide the fifth drive rope into a seventh section located between the first rotating member and the fifth direction conversion wheel; the extension direction of the seventh section is perpendicular to the rotation axis of the first rotating member.

[0026] Optionally, the transmission mechanism includes a rotating connection member, and the rotating connection member includes a first connection portion and a second connection portion;

[0027] The first connection part is rotatably connected to the base frame so that the rotatable connection part rotates around the flip axis; the swing member is rotatably connected to the second connection part so that the swing member rotates around the swing axis; wherein the flip axis is perpendicular to the swing axis.

[0028] Optionally, the joint body includes at least two rotatably connected motion joints; each of the motion joints is assembled with a joint shaft and the joint driving wheel rotatably assembled on the joint shaft.

[0029] According to a second aspect of the present disclosure, a robot is provided, comprising any manipulator described in the first aspect.

[0030] The technical solution provided by the present disclosure can at least achieve the following beneficial effects:

[0031] The present invention is based on two motors and the control of the rotation direction of the two motors, and cooperates with the driving rope assembly to realize the driving of the rotating assembly and the swinging member. When the driving rope assembly drives the joint driving wheel of the joint assembly to rotate, the joint body can bend, and when the swinging member rotates, the joint body can swing. The above mechanism uses two motors in conjunction with the rope drive to realize the bending and swinging actions of the joint body, and has a simple structure and small space occupation.

[0032] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0034] Figure 1 is a schematic diagram of a three-dimensional structure of a manipulator in an exemplary embodiment of the present disclosure;

[0035] Figure 2 is a schematic diagram of a three-dimensional exploded structure of a manipulator in an exemplary embodiment of the present disclosure;

[0036] Figure 3 is a schematic diagram of a partial cross-sectional structure of a first rotating member in an exemplary embodiment of the present disclosure;

[0037] Figure 4 is a schematic diagram of a partial cross-sectional structure of a manipulator in an exemplary embodiment of the present disclosure;

[0038] Figure 5 It is a schematic diagram of a partial cross-sectional structure of a manipulator in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this specification. Instead, they are merely examples of devices and methods consistent with some aspects of this specification as detailed in the appended claims.

[0040] The terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit the disclosure. Unless otherwise defined, the technical terms or scientific terms used in this specification should be understood by people with ordinary skills in the field to which the disclosure belongs. The words "first", "second" and similar words used in this specification and claims do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantitative limit, but indicate the existence of one. "Multiple" or "several" means two and more than two. Unless otherwise specified, words such as "front", "rear", "lower" and / or "upper" are only for the convenience of explanation and are not limited to one position or one spatial orientation. Words such as "include" or "comprise" mean that the elements or objects appearing in front of "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect.

[0041] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms of "a", "the" and "the" used in this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0042] Compared with traditional grippers, current manipulators are gradually developing in the direction of flexible movement, powerful grasping, and miniaturized structure. Therefore, the requirements for degrees of freedom, stable control of grasping movements, and compact structure have increased accordingly. However, in related technologies, the increase in degrees of freedom often leads to an increase in the number of drive motors, resulting in a larger overall structural size of the manipulator, which is not conducive to disassembly and assembly and cost control. However, manipulators with miniaturized characteristics have technical problems such as fewer degrees of freedom and insufficient grasping force due to restrictions on the type and number of motors.

[0043] The present disclosure provides a robot arm. Figure 1 is a schematic diagram of a three-dimensional structure of a manipulator in an exemplary embodiment of the present disclosure, Figure 2 is a schematic diagram of a three-dimensional structure of a manipulator in an exemplary embodiment of the present disclosure, such as Figure 1 , Figure 2 As shown, the manipulator 1 includes: a base frame 11, a driving mechanism 12, a transmission mechanism 14 and a joint assembly 13. The driving mechanism 12 is assembled on the base frame 11, and the driving mechanism 12 includes a first motor 121 and a second motor 122. The transmission mechanism 14 includes a rotating assembly, a swinging member 1409 and a driving rope assembly; the swinging member 1409 is rotatably assembled on the base frame 11, and the driving rope assembly is respectively connected to the first motor 121, the second motor 122, the rotating assembly and the swinging member 1409, so that the first motor 121 and the second motor 122 drive the rotating assembly and the swinging member 1409 to rotate through the driving rope assembly. The joint assembly 13 includes a joint body 131 and at least one joint driving wheel 132 assembled on the joint body 131, the swinging member 1409 is assembled and fixed to the joint body 131, and at least a part of the driving rope assembly is wound around the joint driving wheel 132.

[0044] Based on two motors and the control of the rotation direction of the two motors, the driving rope assembly is used to drive the rotating assembly and the swinging member 1409. When the driving rope assembly drives the joint driving wheel 132 of the joint assembly 13 to rotate, the joint body 131 can be bent, and when the swinging member 1409 rotates, the joint body 131 can be swung. The above mechanism uses two motors in combination with rope drive to achieve the bending and swinging of the joint body 131, and has a simple structure and small space occupation.

[0045] The rotating assembly may include a first rotating member 1401, a second rotating member 1402, a third rotating member 1403, and a fourth rotating member 1404. The driving rope assembly includes a first driving rope 1405, a second driving rope 1406, a third driving rope 1407, a fourth driving rope 1408, and a fifth driving rope 1417. The first rotating member 1401 and the swinging member 1409 are respectively rotatably assembled on the base frame 11, and the second rotating member 1402, the third rotating member 1403, and the fourth rotating member 1404 are rotatably assembled on the first rotating member 1401. The first driving rope 1405 is respectively wound around the third rotating member 1403 and the second rotating member 1402, and one end of the first driving rope 1405 is connected to the output end of the first motor 121, and the other end is fixed to the second rotating member 1402. The second driving rope 1406 is wound around the fourth rotating member 1404 and the second rotating member 1402, respectively, and one end of the second driving rope 1406 is connected to the output end of the second motor 122, and the other end is fixed to the second rotating member 1402. The winding direction of the first driving rope 1405 is opposite to that of the second driving rope 1406. The third driving rope 1407 and the fourth driving rope 1408 are wound around the second rotating member 1402 and / or the swinging member 1409 in opposite directions, and the ends of the third driving rope 1407 are fixed to the second rotating member 1402 and the swinging member 1409, respectively, the two ends of the fourth driving rope 1408 are fixed to the second rotating member 1402 and the swinging member 1409, respectively, and one end of the fifth driving rope 1417 is fixed to the first rotating member 1401. The joint assembly 13 includes a joint body 131 and at least one joint driving wheel 132 assembled to the joint body 131 . The swing member 1409 is assembled and fixed to the joint body 131 , and at least a portion of the fifth driving rope 1417 is wound around the joint driving wheel 132 .

[0046] The above-mentioned manipulator 1 is based on two motors and the control of the rotation direction of the two motors, and cooperates with the different winding directions of the first driving rope 1405 and the second driving rope 1406 to realize the rotation of the first rotating member 1401 or the second rotating member 1402. When the first rotating member 1401 rotates, the fifth driving rope 1417 can drive the joint driving wheel 132 of the joint assembly 13 to rotate, thereby realizing the bending of the joint body 131. When the second rotating member 1402 rotates, one of the third driving rope 1407 and the fourth driving rope 1408 is tightened and the other is relaxed, so that the swinging member 1409 obtains the swinging pulling force. The above-mentioned mechanism uses two motors to cooperate with the rope drive to realize the bending and swinging of the joint body 131, and has a simple structure, small space occupation, and is easy to disassemble and assemble. And when driving the first rotating member 1401 to rotate, the power of the two motors is coupled, thereby improving the gripping force generated when the joint body 131 is bent.

[0047] For example, when the first motor 121 rotates forward and the second motor 122 rotates reversely, the first driving rope 1405 and the second driving rope 1406 are both in a tensioned state. Since the first driving rope 1405 and the second driving rope 1406 are wound around the second rotating member 1402 in opposite directions, and the ends of the first driving rope 1405 and the second driving rope 1406 are fixed to the second rotating member 1402, the second rotating member 1402 is pulled by the first driving rope 1405 and the second driving rope 1406 to drive the first rotating member 1401 to rotate. The fifth driving rope 1417 wound around the first rotating member 1401 is therefore pulled by the force to pull the joint driving wheel 132 to bend the joint body 131. For another example, when the first motor 121 and the second motor 122 both rotate forward, the first drive rope 1405 is tightened and the second drive rope 1406 is loosened. The first drive rope 1405 pulls the second rotating member 1402 to rotate clockwise, and drives the fourth drive rope 1408 to be more wrapped around the second rotating member 1402, and the third drive rope 1407 is disengaged from the second rotating member 1402, thereby pulling the swinging member 1409 to swing toward the left.

[0048] In other embodiments, the rotating assembly and the driving rope assembly can also drive the swinging member 1409 and the joint driving wheel 132 to rotate through other mechanical structure coordination forms, so that the joint body 131 can obtain a swinging or bending movement effect. The present disclosure does not limit the specific structural form of the rotating assembly and the driving rope assembly.

[0049] In some embodiments, Figure 1-Figure 4 As shown, the transmission mechanism 14 may further include a bracket 1416 and a bearing 16, and the bracket 1416 is assembled to the base frame 11. The inner ring of the bearing 16 is assembled and fixed to the first rotating member 1401, and the outer ring of the bearing 16 is assembled and fixed to the third rotating member 1403 and the fourth rotating member 1404 respectively. The inner ring of the bearing 16 is assembled and fixed to the third rotating member 1403 and the fourth rotating member 1404 respectively, and the outer ring of the bearing 16 is assembled and fixed to the bracket 1416. The bracket 1416 realizes the rotational connection between the first rotating member 1401 and the base frame 11, and the rotational connection between the third rotating member 1403 and the fourth rotating member 1404 and the first rotating member 1401, so that the third rotating member 1403 and the fourth rotating member 1404 can rotate relative to the first rotating member 1401, and the first rotating member 1401 itself can rotate relative to the base frame 11.

[0050] The third rotating member 1403 and the fourth rotating member 1404 are arranged at both ends of the first rotating member 1401 along the rotation axis to avoid structural interference between the third rotating member 1403 and the fourth rotating member 1404 and the first driving rope 1405 and the second driving rope 1406, thereby improving structural reliability.

[0051] For example, first protrusions are provided at both ends of the first rotating member 1401, each of which is sleeved with a bearing 16, one bearing 16 is embedded in the inner hole of the third rotating member 1403, and one bearing 16 is embedded in the inner hole of the fourth rotating member 1404. The third rotating member 1403 and the fourth rotating member 1404 are respectively provided with second protrusions extending along the rotation axis of the first rotating member 1401, each of which is sleeved with a bearing 16, and the bearings 16 are respectively embedded in the inner holes of the brackets 1416 at both ends and fixed by screws.

[0052] In some embodiments, the first rotating member 1401 includes a first rotating body 1401a and an extension shaft 1401b disposed on the first rotating body 1401a, and the second rotating member 1402 is rotatably connected to the extension shaft 1401b to rotate around the extension shaft 1401b. By connecting the second rotating member 1402 to the extension shaft 1401b of the first rotating member 1401, the flipping motion of the second rotating member 1402 caused by the synchronous pulling of the first driving rope 1405 and the second driving rope 1406 can drive the first rotating member 1401 to rotate, and then be associated with the bending or extension of the joint body 131 by the extension of the fifth driving rope 1417, and the linkage of the first rotating member 1401 and the second rotating member 1402 is realized through a simple structure. Among them, the extension shaft 1401b and the second rotating member 1402 can be connected through a bearing, and fixed by the end cover 17 and screws.

[0053] The axial direction of the extension shaft 1401b can be perpendicular to the rotational axis of the first rotating body 1401a, so as to realize the connection between the first rotating member 1401 and the second rotating member 1402 through a T-shaped structure, thereby simplifying the structural setting and space occupation. In other embodiments, the axial direction of the extension shaft 1401b can also form other angles with the rotational axis of the first rotating body 1401a, and the present disclosure is not limited thereto.

[0054] In some embodiments, the transmission mechanism 14 may further include a pair of guide members 1415 assembled on the base frame 11, the guide member 1415 includes a guide portion extending perpendicular to the axial direction of the second rotating member 1402, the first drive rope 1405 and the second drive rope 1406 respectively pass through the guide portion and are wound around the second rotating member 1402, the guide portion of the guide member 1415 can help straighten out the extension direction of the first drive rope 1405 and the second drive rope 1406, and facilitate the winding or disengagement of the first drive rope 1405 and the second drive rope 1406 relative to the second rotating member 1402 during tension or relaxation.

[0055] In some embodiments, the swing member 1409 may be directly rotatably connected to the base frame 11 so that the swing member 1409 rotates around the swing axis.

[0056] In other embodiments, the transmission mechanism 14 includes a rotating connection member 15, and the rotating connection member 15 includes a first connection portion 151 and a second connection portion 152. The first connection portion 151 is rotationally connected to the base frame 11 so that the rotating connection member 15 rotates around the flip axis. The swinging member 1409 is rotationally connected to the second connection portion 152 so that the swinging member 1409 rotates around the swing axis. The flip axis is perpendicular to the swing axis. The swinging member 1409 can be swung around the swing axis by rotating the swinging member 1409 and the second connection portion 152. The first connection portion 151 is rotationally connected to the base frame 11. When the third drive rope 1407 and the fourth drive rope 1408 are tightened as the second rotating member 1402 flips, the swinging member 1409 can be pulled to flip around the flip axis, thereby forming a bending degree of freedom at the root of the joint assembly 13.

[0057] In the above embodiment, the swing member 1409 may include a rotating structure 1409a and a swing structure 1409b radially disposed on one side of the rotating structure 1409a, the third drive rope 1407 and the fourth drive rope 1408 are wound around the two ends of the swing structure 1409b in opposite directions, the third drive rope 1407 and the fourth drive rope 1408 are wound around the rotating structure 1409a in opposite directions, and the ends of the third drive rope 1407 and the fourth drive rope 1408 are fixed to the rotating structure 1409a. When one of the third drive rope 1407 and the fourth drive rope 1408 is tightened and the other is loosened, the swing structure 1409b can be pulled to swing around the rotation center of the rotating structure 1409a toward the tightened side.

[0058] Among them, Figure 5 As shown, the rotating structure 1409a can be provided with a first hole 1409c and a second hole 1409d which are interconnected, and the fifth driving rope 1417 passes through the rotating structure 1409a via the first hole 1409c and the second hole 1409d. The fifth driving rope 1417 passing through the rotating structure 1409a avoids the swing of the swinging member 1409 from affecting the change in the length of the fifth driving rope 1417 between the joint assembly 13 and the second rotating member 1402, so that there is no interference between the swing of the joint assembly 13 and the bending of the joint body 131.

[0059] For example, the swing structure 1409b is located on one side of the rotating structure 1409a in the first radial direction, the joint body 131 is provided with a third hole 1311, the fifth drive rope 1417 is connected to the joint drive wheel 132 via the third hole 1311, and the projection of the third hole 1311 coincides with the first hole 1409c in the first radial direction. The above structural arrangement enables the fifth drive rope 1417 to swing with the first hole 1409c as the center and the distance between the first hole 1409c and the second hole 1409d as the radius during the swinging process of the swinging member 1409, and the structural layout is simplified, which helps to reduce space occupation while avoiding the change of the length of the fifth drive rope 1417.

[0060] In some embodiments, the transmission mechanism 14 may further include at least one third directional conversion wheel 1412 rotatably assembled on the base frame 11, and at least a portion of the third drive rope 1407 is matched with the third directional conversion wheel 1412 to divide the third drive rope 1407 into a third section located between the third directional conversion wheel 1412 and the second rotating member 1402 and a fourth section located between the third directional conversion wheel 1412 and the swing structure 1409b, wherein the extension direction of the third section is perpendicular to the rotation axis of the second rotating member 1402, and the extension direction of the fourth section is perpendicular to the extension direction of the swing structure 1409b. And / or, the transmission mechanism 14 further includes at least one fourth direction conversion wheel 1413 rotatably assembled on the base frame 11, and at least a portion of the fourth drive rope 1408 is matched with the fourth direction conversion wheel 1413, so as to divide the fourth drive rope 1408 into a fifth section located between the fourth direction conversion wheel 1413 and the second rotating member 1402 and a sixth section located between the fourth direction conversion wheel 1413 and the swing structure 1409b, the extension direction of the fifth section is perpendicular to the rotation axis of the second rotating member 1402, and the extension direction of the sixth section is perpendicular to the extension direction of the swing structure 1409b. By providing the third direction conversion wheel 1412 and the fourth direction conversion wheel 1413, the third drive rope 1407 and the fourth drive rope 1408 are convenient to form a winding relationship with the second rotating member 1402 and the swing member 1409, so as to avoid structural interference during the rope extension and retraction process.

[0061] For example, the transmission mechanism 14 may include two third direction conversion wheels 1412 and two fourth direction conversion wheels 1413. The rotation axes of the two third direction conversion wheels 1412 may be perpendicular to or at an angle to each other. Similarly, the rotation axes of the two fourth direction conversion wheels 1413 may be perpendicular to or at an angle to each other.

[0062] In some embodiments, the joint body 131 includes at least two rotatably connected motion joints 1312, each motion joint 1312 is assembled with a joint shaft 133 and a joint driving wheel 132 rotatably assembled on the joint shaft 133, so that the joint driving wheel 132 can rotate relative to the motion joint 1312 to change the rope length between two adjacent joint driving wheels 132, thereby achieving bending or stretching between two adjacent motion joints 1312. The above-mentioned at least two joint driving wheels 132 form a movable pulley group, which can achieve greater gripping force within a certain bending angle.

[0063] The joint driving wheel 132 can be assembled on the joint shaft 133 through the bearing 16 and fixed by the retaining spring 134 at the end of the joint shaft 133. The two adjacent motion joints 1312 can be connected to each other by the connecting shaft 135 and the bearing 16 disposed on the connecting shaft 135.

[0064] In some embodiments, the transmission mechanism 14 further includes at least one first direction conversion wheel 1410 rotatably assembled on the base frame 11, and at least a portion of the first driving rope 1405 is matched with the first direction conversion wheel 1410 to divide the first driving rope 1405 into a first section located between the first direction conversion wheel 1410 and the output end of the first motor 121 and a second section located between the first direction conversion wheel 1410 and the third rotating member 1403. The extension direction of the first section is perpendicular to the output direction of the first motor 121, and the extension direction of the second section is perpendicular to the rotation axis of the third rotating member 1403. And / or, the transmission mechanism 14 further includes at least one second direction conversion wheel 1411 rotatably assembled on the base frame 11, and at least a portion of the second driving rope 1406 is matched with the second direction conversion wheel 1411, so as to divide the second driving rope 1406 into a third section located between the second direction conversion wheel 1411 and the output end of the second motor 122 and a fourth section located between the second direction conversion wheel 1411 and the fourth rotating member 1404, the extension direction of the third section is perpendicular to the output direction of the second motor 122, and the extension direction of the fourth section is perpendicular to the rotation axis of the fourth rotating member 1404. By providing the first direction conversion wheel 1410 and the second direction conversion wheel 1411, the first driving rope 1405 and the second driving rope 1406 are convenient to form a winding relationship with the first rotating member 1401 and the output end of the motor, so as to avoid structural interference during the rope extension and retraction process.

[0065] In some embodiments, the transmission mechanism 14 further includes at least one fifth direction conversion wheel 1414 rotatably assembled on the base frame 11, and at least a portion of the fifth driving rope 1417 is matched with the fifth direction conversion wheel 1414 to divide the fifth driving rope 1417 into a seventh section located between the first rotating member 1401 and the fifth direction conversion wheel 1414, and the extension direction of the seventh section is perpendicular to the rotation axis of the first rotating member 1401. By providing the fifth direction conversion wheel 1414, the fifth driving rope 1417 is easy to form a winding relationship with the second rotating member 1402, thereby avoiding structural interference during the rope extension and retraction process.

[0066] It should be noted that the manipulator 1 can be a dexterous hand including fingers, or a manipulator 1 arm, and the present disclosure does not limit this. When the manipulator 1 is a dexterous hand, the joint assembly 13 can be a finger assembly, the joint body 131 can refer to each bendable joint of the finger, and the transmission mechanism 14 can be assembled in the palm of the hand for easy disassembly and replacement.

[0067] In addition, the material of the first drive rope 1405, the second drive rope 1406, the third drive rope 1407, the fourth drive rope 1408, and the fifth drive rope 1417 can be steel wire, or can be a material that can meet the strength, flexibility, creep performance and other requirements, and the present disclosure does not limit this.

[0068] The present disclosure further provides a robot, which includes the above-mentioned manipulator 1.

[0069] Since the manipulator 1 is based on two motors and controls the rotation direction of the two motors, and cooperates with the different winding directions of the first drive rope 1405 and the second drive rope 1406, the rotation of the first rotating member 1401 or the second rotating member 1402 can be realized. When the first rotating member 1401 rotates, the fifth drive rope 1417 can drive the joint drive wheel 132 of the joint assembly 13 to rotate, thereby realizing the bending of the joint body 131. When the second rotating member 1402 rotates, one of the third drive rope 1407 and the fourth drive rope 1408 is tightened and the other is relaxed, so that the swinging member 1409 obtains a swinging pulling force. The above mechanism uses two motors to cooperate with the rope drive to realize the bending and swinging of the joint body 131, with a simple structure, small space occupation, and easy disassembly and assembly. And when driving the first rotating member 1401 to rotate, the power of the two motors is coupled, thereby improving the gripping force generated when the joint body 131 is bent.

[0070] It should be noted that the above-mentioned robot can be a humanoid robot, a robotic arm, or a robot of other types or shapes, and the present disclosure is not limited to this.

[0071] The above is only a preferred embodiment of the present disclosure and does not limit the present disclosure in any form. Although the present disclosure has been disclosed as a preferred embodiment as above, it is not used to limit the present disclosure. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present disclosure. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present disclosure without departing from the content of the technical solution of the present disclosure are still within the scope of the technical solution of the present disclosure.

Claims

1. A robot, characterized in that: include: Base frame, drive mechanism, transmission mechanism and joint assembly; The driving mechanism is assembled on the base frame, and the driving mechanism includes a first motor and a second motor; The transmission mechanism comprises a rotating assembly, a swinging member and a driving rope assembly; the swinging member is rotatably assembled on the base frame; the driving rope assembly is respectively connected to the first motor, the second motor, the rotating assembly and the swinging member, so that the first motor and the second motor drive the rotating assembly and the swinging member to rotate through the driving rope assembly; The joint assembly includes a joint body and at least one joint driving wheel assembled on the joint body; the swinging member is assembled and fixed to the joint body, and at least a part of the driving rope assembly is wound around the joint driving wheel.

2. The robot according to claim 1, characterized in that: The rotating assembly includes a first rotating member, a second rotating member, a third rotating member, and a fourth rotating member; the driving rope assembly includes a first driving rope, a second driving rope, a third driving rope, a fourth driving rope, and a fifth driving rope; the first rotating member is rotatably assembled on the base frame, and the second rotating member, the third rotating member, and the fourth rotating member are rotatably assembled on the first rotating member; The first driving rope is respectively wound around the third rotating member and the second rotating member, and one end of the first driving rope is connected to the output end of the first motor, and the other end is fixed to the second rotating member; the second driving rope is respectively wound around the fourth rotating member and the second rotating member, and one end of the second driving rope is connected to the output end of the second motor, and the other end is fixed to the second rotating member; the winding directions of the first driving rope and the second driving rope are opposite; The third driving rope and the fourth driving rope are wound around the second rotating member and / or the swinging member in opposite directions, and ends of the third driving rope are respectively fixed to the second rotating member and the swinging member, and both ends of the fourth driving rope are respectively fixed to the second rotating member and the swinging member; one end of the fifth driving rope is fixed to the first rotating member, and the fifth driving rope is wound around the joint driving wheel.

3. The robot according to claim 2, characterized in that: The transmission mechanism further comprises a bracket, a first bearing and a second bearing; the bracket is assembled on the base frame; The inner ring of the first bearing is assembled and fixed with the first rotating member, and the outer ring of the first bearing is assembled and fixed with the third rotating member and the fourth rotating member respectively; The inner ring of the second bearing is assembled and fixed to the third rotating member and the fourth rotating member respectively, and the outer ring of the second bearing is assembled and fixed to the bracket.

4. The robot according to claim 2, characterized in that: The first rotating member includes a first rotating body and an extension shaft arranged on the first rotating body; the second rotating member is rotatably connected to the extension shaft to rotate around the extension shaft.

5. The robot according to claim 4, characterized in that: The axial direction of the extension shaft is perpendicular to the rotational axial direction of the first rotating body.

6. The robot according to claim 2, characterized in that: The transmission mechanism also includes a pair of guide members assembled on the base frame, and the guide members include guide portions extending perpendicularly to the axial direction of the second rotating member; the first driving rope and the second driving rope pass through the guide portions respectively and then are wound around the second rotating member.

7. The robot according to claim 2, characterized in that: The swing member includes a rotating structure and a swing structure radially arranged on one side of the rotating structure; the third drive rope and the fourth drive rope are wound around the two ends of the swing structure in opposite directions; the third drive rope and the fourth drive rope are wound around the rotating structure in opposite directions, and the ends of the third drive rope and the fourth drive rope are fixed to the rotating structure.

8. The robot according to claim 7, characterized in that: The rotating structure is provided with a first hole and a second hole that are interconnected, and the fifth driving rope passes through the rotating structure via the first hole and the second hole.

9. The robot according to claim 8, characterized in that: The swing structure is located on one side of the rotating structure in the first radial direction; the joint body is provided with a third hole, and the fifth driving rope is connected to the joint driving wheel via the third hole; in the first radial direction, the projection of the third hole coincides with the first hole.

10. The robot according to claim 7, characterized in that: The transmission mechanism further comprises at least one third direction conversion wheel rotatably assembled on the base frame; at least a part of the third driving rope is matched with the third direction conversion wheel to divide the third driving rope into a third section located between the third direction conversion wheel and the second rotating member and a fourth section located between the third direction conversion wheel and the swing structure; the extension direction of the third section is perpendicular to the rotation axis of the second rotating member; the extension direction of the fourth section is perpendicular to the extension direction of the swing structure; And / or, the transmission mechanism also includes at least one fourth direction conversion wheel rotatably assembled on the base frame; at least a portion of the fourth drive rope is matched with the fourth direction conversion wheel to divide the fourth drive rope into a fifth section located between the fourth direction conversion wheel and the second rotating member and a sixth section located between the fourth direction conversion wheel and the swing structure; the extension direction of the fifth section is perpendicular to the rotation axis of the second rotating member; the extension direction of the sixth section is perpendicular to the extension direction of the swing structure.

11. The robot according to claim 2, characterized in that: The transmission mechanism further comprises at least one first direction conversion wheel rotatably assembled on the base frame; at least a portion of the first driving rope is matched with the first direction conversion wheel to divide the first driving rope into a first section located between the first direction conversion wheel and the output end of the first motor and a second section located between the first direction conversion wheel and the third rotating member; the extension direction of the first section is perpendicular to the output direction of the first motor; the extension direction of the second section is perpendicular to the rotation axis of the third rotating member; And / or, the transmission mechanism also includes at least one second direction conversion wheel rotatably assembled on the base frame; at least a portion of the second drive rope is engaged with the second direction conversion wheel to divide the second drive rope into a third section located between the second direction conversion wheel and the output end of the second motor and a fourth section located between the second direction conversion wheel and the fourth rotating member; an extension direction of the third section is perpendicular to the output direction of the second motor; an extension direction of the fourth section is perpendicular to the rotation axis of the fourth rotating member.

12. The robot according to claim 2, characterized in that: The transmission mechanism also includes at least one fifth direction conversion wheel rotatably assembled on the base frame; at least a portion of the fifth drive rope is engaged with the fifth direction conversion wheel to divide the fifth drive rope into a seventh section located between the first rotating member and the fifth direction conversion wheel; the extension direction of the seventh section is perpendicular to the rotation axis of the first rotating member.

13. The robot according to claim 1, characterized in that: The transmission mechanism comprises a rotating connection member, and the rotating connection member comprises a first connection portion and a second connection portion; The first connection part is rotatably connected to the base frame so that the rotatable connection part rotates around the flip axis; the swing member is rotatably connected to the second connection part so that the swing member rotates around the swing axis; wherein the flip axis is perpendicular to the swing axis.

14. The robot according to claim 1, characterized in that: The joint body includes at least two rotatably connected motion joints; each of the motion joints is assembled with a joint shaft and the joint driving wheel rotatably assembled on the joint shaft.

15. A robot, characterized in that: Comprising a robot as described in any one of claims 1-14.

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