Rope-driven robot

Abstract

The utility model provides a rope-driven robot, relates to the technical field of robots, and is designed for solving the problem that the structure of an existing rope-driven robot crossing multiple joints is relatively complex. The rope-driven robot comprises a first support, a second support and a Bowden cable pipe, the first support and a shell of a mechanical arm are relatively and fixedly arranged, and the first support is provided with a plurality of first air pipe plugs; the second support and the motor body are relatively and fixedly arranged, and the second support is provided with a plurality of second air pipe plugs; one end of the Bowden cable pipe is fixedly inserted into the first air pipe plug, the other end of the Bowden cable pipe is fixedly inserted into the second air pipe plug, and the driving rope sequentially penetrates through the first air pipe plug, the Bowden cable pipe and the second air pipe plug and is connected to a motor shaft of the motor. According to the utility model, the structure of the rope-driven robot spanning multiple joints is simpler.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, relate to a rope drive robot. BACKGROUND

[0002] The rope drive robot can set the driver (such as motor) of relatively large quality in the part far from end effector, and through reasonable arrangement, the inertia of end effector is reduced, and dynamic performance is promoted. However, this makes the rope drive robot often encounter the scene needing to drive rope while crossing multiple joints in the design process, for example: the drive rope for controlling mechanical arm needs to be connected to the motor arranged on the body. However, the structure of the existing rope drive robot crossing multiple joints is relatively complex. SUMMARY

[0003] The utility model aims at providing a kind of rope drive robot, to solve the technical problem that the structure of the existing rope drive robot crossing multiple joints is relatively complex.

[0004] The utility model provides a rope drive robot, including body and the mechanical arm of installing in the body, the mechanical arm is provided with the drive rope for controlling its action, and the body is provided with motor for providing power;The rope drive robot further includes first support, second support and bowden tube, the first support is fixedly arranged with the shell of the mechanical arm, and the first support is provided with multiple first gas pipe plugs;Second support is fixedly arranged with the body of motor, and the second support is provided with multiple second gas pipe plugs;One end of the bowden tube is inserted and fixed to the first gas pipe plug, and the other end of the bowden tube is inserted and fixed to the second gas pipe plug, and the drive rope sequentially passes through the first gas pipe plug, the bowden tube and the second gas pipe plug, and is connected to the motor shaft of motor.

[0005] Further, the first support is flat structure, and the length direction of the first support is perpendicular to the mechanical arm;The first gas pipe plug is vertically connected to the first support, and the first gas pipe plug is located on the side of the first support towards shoulder structure.

[0006] Further, the first gas pipe plug is screw connected to the first support, and / or the second gas pipe plug is screw connected to the second support.

[0007] Further, the rope drive robot further includes mounting frame, the mounting frame is detachably installed on the body, and the motor is installed on the mounting frame;The second support is fixedly connected with the mounting frame.

[0008] Further, the number of the motor is multiple, and the second support is fixedly connected with the mounting frame.

[0009] Further, the mounting frame comprises two motor mounting plates opposite and spaced apart along a first direction, and two connecting plates opposite and spaced apart along a second direction, the two connecting plates being detachably connected with the two motor mounting plates to jointly enclose a mounting cavity open at two ends, the second direction being perpendicular to the first direction; the two motor mounting plates are both provided with the motor, the body of the motor being accommodated in the mounting cavity, and the motor shaft of the motor extending away from the mounting cavity; the mounting frame is connected with the body through one of the connecting plates.

[0010] Further, the first direction is a left-right direction of the rope-driven robot.

[0011] Further, the rope-driven robot comprises two mechanical arms, which are a left arm and a right arm respectively, wherein the driving rope arranged on the left arm is connected with the motor arranged on the right motor mounting plate, and the driving rope arranged on the right arm is connected with the motor arranged on the left motor mounting plate.

[0012] Further, in a direction from bottom to top, the second tracheal plug extends obliquely away from the body.

[0013] Further, the second support comprises a first support plate and a second support plate opposite and spaced apart, and a bearing seat, the first support plate and the second support plate are both detachably connected to one side of the motor mounting plate away from the mounting cavity, and the bearing seat is detachably connected to one end of the first support plate and the second support plate away from the mounting cavity; the motor shaft of the motor is fixedly sleeved with a winding rope wheel, the winding rope wheel is rotationally supported on the bearing seat; and the second tracheal plug is mounted on the bearing seat.

[0014] The rope-driven robot brings the following beneficial effects:

[0015] By arranging the first support plate fixed relative to the shell of the mechanical arm and the second support plate fixed relative to the body of the motor in the rope-driven robot, and arranging the first tracheal plug on the first support plate and the second tracheal plug on the second support plate, the two ends of the Bowden cable can be respectively and quickly connected to the first tracheal plug and the second tracheal plug, so that the driving rope of the mechanical arm can enter the Bowden cable through the first tracheal plug, and further be connected to the motor shaft of the motor through the second tracheal plug, thereby realizing the spanning multi-joint connection of the driving rope between the mechanical arm and the motor.

[0016] Therefore, the rope-driven robot realizes the driving rope across the multi-joint connection through the above setting, and the first air pipe plug and the second air pipe plug are used to connect the Bowden tube, so that the Bowden tube can be quickly connected and disassembled at the positions of the first support and the second support, and the efficiency is high. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by the provided drawings without creative labor for those skilled in the art.

[0018] Figure 1 A partial structure schematic diagram of the rope-driven robot provided by the embodiment of the present application is shown in FIG. 1.

[0019] Figure 2 A partial structure enlarged view of A in FIG. 1. Figure 1

[0020] Figure 3 A motor installation schematic diagram of the rope-driven robot provided by the embodiment of the present application is shown in FIG. 4.

[0021] Explanation of reference signs:

[0022] 100-body; 200-robotic arm; 300-driving rope; 400-motor; 410-roping wheel; 500-first support; 600-second support; 700-Bowden tube; 800-installation frame;

[0023] 510-first air pipe plug;

[0024] 610-second air pipe plug; 620-first support plate; 630-second support plate; 640-bearing seat; 810-motor installation plate; 820-connection plate. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0026] Figure 1 A partial structure schematic diagram of the rope-driven robot provided by the embodiment is shown in FIG. 1. Figure 1 ​As shown, the embodiment provides a rope-driven robot, which comprises a body 100 and a mechanical arm 200 mounted on the body 100, the mechanical arm 200 is provided with a driving rope 300 for controlling the action thereof, and the body 100 is provided with a motor 400 for providing power.

[0027] Figure 2 For Figure 1 the local structure of A in the above is enlarged; Figure 3 The motor 400 installation diagram of the rope-driven robot provided by the embodiment is shown. Please continue to refer to Figure 1 , and combine Figure 2 and Figure 3 The rope-driven robot further comprises a first support 500, a second support 600 and a Bowden tube 700, wherein the first support 500 is fixedly arranged relative to the shell of the mechanical arm 200, the first support 500 is provided with a plurality of first air pipe connectors 510; the second support 600 is fixedly arranged relative to the body of the motor 400, the second support 600 is provided with a plurality of second air pipe connectors 610; one end of the Bowden tube 700 is fixedly connected to the first air pipe connector 510, the other end of the Bowden tube 700 is fixedly connected to the second air pipe connector 610, the driving rope 300 passes through the first air pipe connector 510, the Bowden tube 700 and the second air pipe connector 610 in sequence, and is connected to the motor shaft of the motor 400.

[0028] By arranging the first support 500 fixed relative to the shell of the mechanical arm 200 and the second support 600 fixed relative to the body of the motor 400 in the rope-driven robot, and arranging the first air pipe connector 510 on the first support 500 and the second air pipe connector 610 on the second support 600, the two ends of the Bowden tube 700 can be respectively and quickly connected to the first air pipe connector 510 and the second air pipe connector 610, so that the driving rope 300 of the mechanical arm 200 can enter the Bowden tube 700 through the first air pipe connector 510, and further be connected to the motor shaft of the motor 400 through the second air pipe connector 610, realizing the spanning multi-joint connection of the driving rope 300 between the mechanical arm 200 and the motor 400.

[0029] As can be seen, through the above arrangement, the rope-driven robot not only realizes the spanning multi-joint connection of the driving rope 300, but also realizes the quick connection and disassembly of the Bowden tube 700 at the positions of the first support 500 and the second support 600 by using the first air pipe connector 510 and the second air pipe connector 610 to connect the Bowden tube 700, which is high in efficiency.

[0030] It should be noted that Figure 1 only the connection of one Bowden tube 700 with the first air pipe connector 510 and the second air pipe connector 610 is shown in the above, and in actual use, a corresponding number of Bowden tubes 700 can be arranged according to needs.

[0031] Please continue to refer to Figure 1 and Figure 2 In this embodiment, the first support 500 is in a flat plate structure, and the length direction of the first support 500 is perpendicular to the mechanical arm 200; the first tracheal plug 510 is connected to the first support 500 perpendicularly, and the first tracheal plug 510 is located on the side of the first support 500 facing the shoulder structure.

[0032] The first support 500 is in this form of arrangement, which is simple in structure and reduces the occupation of the internal space of the mechanical arm 200. At the same time, by setting the first tracheal plug 510 to be perpendicular to the first support 500, the driving rope 300 can smoothly pass into the first tracheal plug 510 from the inside of the mechanical arm 200, avoiding the bending of the driving rope 300.

[0033] In this embodiment, the first tracheal plug 510 is threadedly connected to the first support 500.

[0034] The first tracheal plug 510 and the first support 500 are in this form of connection, which not only is reliable in connection and reduces the risk of falling off of the first tracheal plug 510, but also is convenient for disassembly and assembly.

[0035] Similarly, in this embodiment, the second tracheal plug 610 is threadedly connected to the second support 600.

[0036] The second tracheal plug 610 and the second support 600 are in this form of connection, which ensures the reliability of the connection between the second tracheal plug 610 and the second support 600, and is also convenient for disassembly and assembly, improving the maintenance convenience.

[0037] Please continue to refer to Figure 1 and Figure 3 In this embodiment, the rope-driven robot can further include a mounting frame 800, specifically, the mounting frame 800 is detachably mounted to the body 100, and the motor 400 is mounted to the mounting frame 800; the second support 600 is fixedly connected to the mounting frame 800.

[0038] This arrangement achieves the modular installation of the motor 400, so that the motor 400, the mounting frame 800 and the second support 600 are connected together as a module first, and then the module is integrally installed to the body 100 of the rope-driven robot, improving the assembly convenience.

[0039] Please continue to refer to Figure 3 In this embodiment, the number of the motor 400 is multiple, and the second support 600 is mounted at the position of each motor 400. That is, the mounting frame 800 is mounted with multiple motors 400.

[0040] The setting can be used for controlling the motor 400 integrated on the mounting frame 800, and meanwhile, the second support 600 is arranged at the position corresponding to each motor 400, so that the driving rope 300 connected to each motor shaft can pass out through the second air pipe plug 610 arranged on the corresponding second support 600, thereby avoiding the mutual entanglement of the driving ropes 300 connected to the motor shafts.

[0041] Please continue to refer to Figure 3 In the embodiment, the mounting frame 800 can include two motor mounting plates 810 opposite and spaced apart along a first direction, and two connecting plates 820 opposite and spaced apart along a second direction. Specifically, the two connecting plates 820 are detachably connected with the two motor mounting plates 810 to jointly enclose a mounting cavity with both ends open, and the second direction is perpendicular to the first direction. The two motor mounting plates 810 are each provided with a motor 400, and the body of the motor 400 is accommodated in the mounting cavity, and the motor shaft of the motor 400 extends away from the mounting cavity. The mounting frame 800 is connected with the body 100 through one of the connecting plates 820.

[0042] The structure of the mounting frame 800 allows the body of each motor 400 to be accommodated in the mounting cavity and the motor shaft to extend to the outside of the mounting cavity. On the one hand, this can achieve the isolation of the body of the motor 400 from other structures in the rope-driven robot, thereby protecting the body of the motor 400. On the other hand, this allows the connection operation of the driving rope 300 and the motor shaft to be performed outside the mounting cavity, thereby facilitating the arrangement of the driving rope 300.

[0043] Specifically, in the embodiment, a fixing strip can be arranged on one of the connecting plates 820, and the fixing strip is fixedly connected with the body 100 by screw connection, thereby achieving the mounting and fixation of the mounting frame 800 on the body 100.

[0044] In the embodiment, the first direction is the left-right direction of the rope-driven robot. That is, when the mounting frame 800 is mounted on the body 100 of the rope-driven robot, the two motor mounting plates 810 of the mounting frame 800 are opposite and spaced apart along the left-right direction.

[0045] Through the above arrangement, the space between the body 100 and the arm can be effectively utilized to accommodate the mounting frame 800 and the motor 400, thereby reducing the space occupation of the mounting frame 800 in the thickness direction of the rope-driven robot.

[0046] It should be noted that the above "first direction" can be represented by the arrow ab in Figure 3 , and the above "second direction" can be represented by the arrow cd in Figure 3 .

[0047] Please continue to refer to Figure 1In the embodiment, the rope-driven robot includes two mechanical arms 200, which are a left arm and a right arm respectively.

[0048] The arrangement can reduce the bending of the driving rope 300, so as to improve the smoothness of pulling the driving rope 300, and facilitate to ensure the control accuracy.

[0049] Please continue to refer to Figure 3 In the embodiment, the second tracheal plug 610 extends in a direction from bottom to top and in a direction away from the body 100.

[0050] By arranging the second tracheal plug 610 in the above posture, the driving rope 300 can pass into the second tracheal plug 610 at a relatively high position, which is beneficial to save the length of the driving rope 300 and reduce the cost, and the arrangement can also reduce the bending degree of the driving rope 300, so as to further improve the smoothness of pulling the driving rope 300.

[0051] Please continue to refer to Figure 3 In the embodiment, the second support 600 can include a first support plate 620 and a second support plate 630 which are opposite and spaced apart, and a bearing seat 640. Specifically, the first support plate 620 and the second support plate 630 are detachably connected to one side of the motor mounting plate 810 away from the mounting cavity, and the bearing seat 640 is detachably connected to one end of the first support plate 620 and the second support plate 630 away from the mounting cavity; the motor shaft of the motor 400 is fixedly sleeved with the rope winding wheel 410, the rope winding wheel 410 is rotationally supported on the bearing seat 640; and the second tracheal plug 610 is mounted on the bearing seat 640.

[0052] The second support 600 has the above arrangement, which not only has good support stability, but also has a simple structure. By rotationally supporting the rope winding wheel 410 fixedly sleeved on the motor shaft on the bearing seat 640, a fulcrum can be provided for the rotation process, so as to avoid shaking caused by the suspension of the rope winding wheel 410, thereby ensuring the stability of the motor 400 during operation.

[0053] It should be noted that the "detachable connection" mentioned in the embodiment is connected through a threaded connection.

[0054] Although the utility model discloses as above, the utility model is not limited to this. Any person skilled in the art, without departing from the spirit and scope of the utility model, can make various changes and modifications, therefore the protection scope of the utility model should be limited by the range defined in the claims.

[0055] Finally, it should be noted that, in this document, relational terms such as first and second, and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," "includes," "including" or any other variation thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0056] In the above embodiments, the orientation descriptions such as "upper", "lower", "left", "right", "side" and the like are based on the drawings shown.

[0057] The above description of disclosed embodiments provides enabling disclosure sufficient for one of ordinary skill in the art to practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rope-driven robot comprising a body (100) and a mechanical arm (200) mounted to the body (100), the mechanical arm (200) being provided with a driving rope (300) for controlling its motion, the body (100) being provided with a motor (400) for providing power, characterized in that, The rope-driven robot further comprises a first support (500), a second support (600) and a Bowden tube (700), the first support (500) is fixedly arranged opposite to a shell of the mechanical arm (200), the first support (500) is provided with a plurality of first air pipe connectors (510); the second support (600) is fixedly arranged opposite to a body of the motor (400), the second support (600) is provided with a plurality of second air pipe connectors (610); one end of the Bowden tube (700) is fixedly connected to the first air pipe connector (510), the other end of the Bowden tube (700) is fixedly connected to the second air pipe connector (610), the driving rope (300) passes through the first air pipe connector (510), the Bowden tube (700) and the second air pipe connector (610) in sequence and is connected to a motor shaft of the motor (400).

2. The rope-driven robot according to claim 1, characterized in that, The first support (500) is in a flat plate structure, the first support (500) is perpendicular to a length direction of the mechanical arm (200); the first air pipe connector (510) is connected to the first support (500) perpendicularly, and the first air pipe connector (510) is located on a side of the first support (500) facing a shoulder structure.

3. The rope-driven robot according to claim 1, wherein The first air pipe connector (510) is threadedly connected to the first support (500); and / or the second air pipe connector (610) is threadedly connected to the second support (600).

4. The rope driven robot according to claim 1, characterized in that, The rope-driven robot further comprises a mounting frame (800), the mounting frame (800) is detachably mounted to the body (100), the motor (400) is mounted to the mounting frame (800); the second support (600) is fixedly connected to the mounting frame (800).

5. The rope-driven robot according to claim 4, wherein The number of the motors (400) is multiple, and the second support (600) is mounted at a position of each motor (400).

6. The rope-driven robot according to claim 5, wherein The mounting frame (800) comprises two motor mounting plates (810) opposite and spaced apart along a first direction, and two connecting plates (820) opposite and spaced apart along a second direction, the two connecting plates (820) are detachably connected to the two motor mounting plates (810) to jointly form an installation cavity with both ends open, the second direction is perpendicular to the first direction; the two motor mounting plates (810) are both provided with the motor (400), a body of the motor (400) is accommodated in the installation cavity, and a motor shaft of the motor (400) extends away from the installation cavity; the mounting frame (800) is connected to the body (100) through one of the connecting plates (820).

7. The rope-driven robot according to claim 6, characterized in that The first direction is a left-right direction of the rope-driven robot.

8. The rope-driven robot according to claim 7, characterized in that, The rope-driven robot comprises two mechanical arms (200), which are left and right arms respectively, wherein the driving rope (300) arranged on the left arm is connected with the motor (400) arranged on the motor mounting plate (810) on the right side, and the driving rope (300) arranged on the right arm is connected with the motor (400) arranged on the motor mounting plate (810) on the left side.

9. The rope driven robot according to claim 7, characterized in that, In a direction from bottom to top, the second tracheal plug (610) extends obliquely away from the body (100).

10. The rope driven robot according to claim 6, characterized in that, The second support (600) comprises opposite and spaced first and second support plates (620, 630), and a bearing seat (640), the first and second support plates (620, 630) are detachably connected to one side of the motor mounting plate (810) away from the mounting cavity, and the bearing seat (640) is detachably connected to one end of the first and second support plates (620, 630) away from the mounting cavity; the motor shaft of the motor (400) is fixedly sleeved with a rope winding wheel (410), the rope winding wheel (410) is rotationally supported on the bearing seat (640); and the second tracheal plug (610) is mounted on the bearing seat (640).

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