Rope-driven robot

Abstract

The utility model provides a rope-driven robot, relates to the technical field of robots, and aims to solve the problem that a traditional industrial mechanical arm is heavy due to the fact that a motor is arranged in the mechanical arm. The rope-driven robot comprises a chassis, a body, mechanical arms and a motor assembly, wherein the body is mounted on the chassis; the mechanical arm is installed on the body, the mechanical arm comprises a shoulder structure, a large arm shell, an elbow joint, a small arm shell, a wrist structure and a tail end clamping jaw which are sequentially arranged, a rope driving assembly is arranged in the mechanical arm, and the rope driving assembly is configured to enable the shoulder structure to have the rotation freedom degree and enable the elbow joint to have the buckling freedom degree; the wrist structure has a rotation degree of freedom, a first swing degree of freedom and a second swing degree of freedom; the shoulder structure also has a pitching degree of freedom and a deflection degree of freedom; the motor assembly comprises a mounting frame and a motor assembly, and the motor assembly is in driving connection with the rope driving assembly. The mechanical arm is light and handy.

Description

TECHNICAL FIELD

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

[0002] With the deepening of the research on robot technology, the performance and application scene of the mechanical arm are continuously expanded, and in any use scene, higher requirements are put forward for the response speed of the mechanical arm and the safety of human-computer interaction. However, the shortcomings of the traditional industrial mechanical arm in different use scenes are gradually highlighted, including: (1) the traditional mechanical arm joint usually arranges the motor and other electrical elements inside the joint of the mechanical arm, resulting in that the mechanical arm is relatively heavy and the internal structure is complex; (2) the built-in electrical elements result in that the weight distribution of each joint of the mechanical arm is relatively average, the far end of the mechanical arm still maintains a large mass inertia, and the response speed is slow; (3) the mechanical arm as a whole is rigid and has a large mass inertia, when encountering encoder failure and power failure, a large impact on the surrounding personnel will be caused, and the safety is poor.

[0003] Therefore, the patent aims to provide a rope drive robot to solve the problem that the traditional industrial mechanical arm is relatively heavy due to the arrangement of the motor inside the mechanical arm. SUMMARY

[0004] The utility model aims at providing a rope drive robot to solve the technical problem that the traditional industrial mechanical arm is relatively heavy due to the arrangement of the motor inside the mechanical arm.

[0005] The rope drive robot provided by the utility model comprises a chassis, a body, a mechanical arm and a motor assembly, wherein the body is installed on the chassis; the mechanical arm is installed on the body, and the mechanical arm comprises a shoulder structure, a large arm shell, an elbow joint, a small arm shell, a wrist structure and a terminal gripper which are sequentially arranged; a rope drive assembly is arranged inside the mechanical arm; the rope drive assembly is configured to enable the shoulder structure to have a rotation degree of freedom, enable the elbow joint to have a flexion degree of freedom, and enable the wrist structure to have a rotation degree of freedom, a first swing degree of freedom and a second swing degree of freedom; the rotation axis of the shoulder structure extends along the front-back direction; the rotation axis of the wrist structure extends along the length direction of the mechanical arm; the swing axes of the first swing degree of freedom and the second swing degree of freedom are perpendicular to each other and perpendicular to the rotation axis of the wrist structure; the shoulder structure also has a pitch degree of freedom and a yaw degree of freedom; the pitch axis of the shoulder structure extends along the left-right direction; and the yaw axis of the shoulder structure extends along the up-down direction; the motor assembly comprises a mounting frame for being connected with the body and a motor assembly arranged on the mounting frame; and the motor assembly is drivingly connected with the rope drive assembly.

[0006] Further, the body includes a first parallelogram linkage frame, a first drive mechanism, a second parallelogram linkage frame, and a second drive mechanism. The first parallelogram frame includes an opposing base and a connecting seat, and a first rod group rotatably disposed between the base and the connecting seat. The first drive mechanism is mounted on the base and drives the first rod group to rotate. The second parallelogram linkage frame includes the connecting seat and an upper support opposite to the connecting seat, and a second rod group rotatably disposed between the connecting seat and the upper support. The second drive mechanism is mounted on the connecting seat and drives the second rod group to rotate. The base is mounted on the chassis, the shoulder structure is mounted on the upper support, and the mounting frame is mounted on the second parallelogram linkage frame.

[0007] Furthermore, the first linkage group includes multiple first connecting rods, the first drive mechanism includes a first motor, a first worm and a first worm wheel, the body of the first motor is mounted on the base, the motor shaft of the first motor is connected to the first worm, the first worm wheel is fixed relative to one of the multiple first connecting rods and is coaxial with the rotation axis of the first connecting rod, and the first worm wheel meshes with the first worm for transmission.

[0008] The second linkage group includes multiple second connecting rods, and the second drive mechanism includes a second motor, a second worm, and a second worm wheel. The body of the second motor is mounted on the connecting seat, and the motor shaft of the second motor is connected to the second worm for transmission. The second worm wheel is fixed relative to one of the multiple second connecting rods and is coaxial with the rotation axis of the second connecting rod. The second worm wheel meshes with the second worm for transmission.

[0009] Furthermore, a rotation limiting structure is provided between the second rod group and the connecting seat, the rotation limiting structure being used to limit the rotation angle of the second rod group.

[0010] Furthermore, the elbow joint includes a first roller and a second roller tangentially arranged, and a connecting frame. Both the first roller and the second roller are rotatably mounted on the connecting frame, and the first roller is pivotally connected to the lower arm housing, while the second roller is pivotally connected to the upper arm housing. The rope drive assembly includes a first elbow drive rope for driving the elbow joint to perform a lifting action and a second elbow drive rope for driving the elbow joint to perform a lowering action. The number of first elbow drive ropes is greater than the number of second elbow drive ropes. The motor assembly includes an elbow motor, and each of the first elbow drive ropes is connected to a different elbow motor.

[0011] Furthermore, the side of the first roller facing away from the second roller is the front of the elbow joint, and the side of the second roller facing away from the first roller is the back of the elbow joint. One end of both the first elbow drive rope and the second elbow drive rope is fixedly connected to the first roller at the front. The rope drive assembly also includes a pressure roller, which is rotatably pressed against the back. The first elbow drive rope and the second elbow drive rope are both wound in a "∽" shape around the first roller and the second roller, and the winding directions of the first elbow drive rope and the second elbow drive rope are centrally symmetrical about the point of tangency between the pressure roller and the elbow joint.

[0012] Furthermore, the robotic arm is provided with a first bracket, which is provided with a plurality of first air pipe plugs. The mounting frame is connected to a second bracket, which is provided with a plurality of second air pipe plugs. The rope-driven robot also includes a Bowden conduit, one end of which is inserted and fixed to the first air pipe plug, and the other end of which is inserted and fixed to the second air pipe plug. The drive rope of the rope drive assembly passes through the first air pipe plug, the Bowden conduit, and the second air pipe plug in sequence, and is connected to the corresponding motor in the motor assembly.

[0013] Furthermore, the shoulder structure includes a shoulder drive mechanism, a shoulder transmission mechanism, and a rotating seat. The shoulder transmission mechanism includes two driven bevel gears rotatably arranged around a vertical axis, and a planetary bevel gear meshing simultaneously with the two driven bevel gears. The two driven bevel gears are mirror-symmetrical about a horizontal plane, and the rotating seat is fixedly mounted on the planetary bevel gears. The shoulder drive mechanism is configured in two sets, each corresponding to one of the two sets of shoulder transmission mechanisms. The two sets of shoulder drive mechanisms are configured to: drive the two driven bevel gears to rotate in the same direction to drive the rotating seat to pitch via the planetary bevel gears; and drive the two driven bevel gears to rotate in opposite directions to drive the rotating seat to deflect via the planetary bevel gears.

[0014] Furthermore, the shoulder structure also includes an adapter seat, which is rotatably connected to the rotating seat; the rope drive assembly also includes a shoulder swivel pulley and a shoulder drive rope; the motor assembly also includes a shoulder swivel motor; the shoulder swivel pulley is coaxial with the shaft of the adapter seat and is fixed relative to the adapter seat; the shoulder drive rope is tightly wound around the shoulder swivel pulley, and both ends of the shoulder drive rope are connected to the motor shaft of the shoulder swivel motor; the upper arm housing is connected to the adapter seat.

[0015] Furthermore, the rope drive assembly also includes a first wrist swing rope group, a second wrist swing rope group, a wrist rotation rope group, a wrist rotation pulley, a wrist pivot, and a forearm connecting plate. The wrist rotation pulley is rotatably mounted on the forearm housing about the wrist structure's rotation axis, and the wrist pivot is fixedly mounted on the wrist rotation pulley. The wrist rotation rope group includes a first wrist rotation drive rope and a second wrist rotation drive rope, which are wound in opposite directions around the wrist rotation pulley to drive the forearm. The wrist rotation pulley rotates in the opposite direction; the forearm connecting plate is fixedly connected to the forearm shell, and the forearm connecting plate has a clearance hole for the wrist pivot to pass through, and the wrist structure is connected to the wrist pivot; the forearm connecting plate also has multiple rope holes, and the first wrist swing rope group and the second wrist swing rope group both pass through the rope holes and are connected to the wrist structure. The first wrist swing rope group is used to give the wrist structure the first swing freedom, and the second wrist swing rope group is used to give the wrist structure the second swing freedom.

[0016] The beneficial effects of this rope-driven robot are:

[0017] This rope-driven robot, through the aforementioned configuration, can achieve walking functionality using a chassis, enabling it to move to a designated location. By incorporating a robotic arm mounted on the body, and arranging it sequentially with a shoulder structure, upper arm shell, elbow joint, forearm shell, wrist structure, and end effector, the robot can perform actions. Specifically, the connection between the rope drive assembly inside the robotic arm and the motor assembly in the body allows the motor assembly to drive the rope drive assembly, thus providing the shoulder structure with rotational freedom, the elbow joint with flexion freedom, and the wrist structure with rotational freedom, a first swing freedom, and a second swing freedom. Furthermore, by providing both pitch and yaw freedom to the shoulder structure, the robot arm's shoulder, elbow, and wrist degrees of freedom are configured in a 3-1-3 configuration, effectively reducing the robot arm's inertia.

[0018] It is evident that this rope-driven robot not only reduces the weight of the robotic arm by installing the motor assembly as an independent module on the body, simplifying the internal structure of the robotic arm and making it lighter overall, but also the distribution of degrees of freedom in the robotic arm results in a smaller mass inertia at the distal end of the robotic arm. This not only improves the response speed but also reduces the impact on surrounding personnel in the event of malfunctions or power outages, thus improving safety. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 A partial structural schematic diagram of the rope-driven robot provided in an embodiment of this utility model;

[0021] Figure 2 A schematic diagram of the structure of the rope-driven robot provided in this embodiment of the present invention when the body is in an upright posture;

[0022] Figure 3 A schematic diagram of the structure of the rope-driven robot in a bent posture, as provided in an embodiment of this utility model;

[0023] Figure 4 for Figure 3 Enlarged view of the local structure at point A;

[0024] Figure 5 One of the schematic diagrams of the internal structure of the robotic arm of the rope-driven robot provided in an embodiment of this utility model;

[0025] Figure 6 A second schematic diagram of the internal structure of the robotic arm of the rope-driven robot provided in an embodiment of this utility model;

[0026] Figure 7 A schematic diagram of the structure of the robotic arm of the rope-driven robot provided in an embodiment of this utility model;

[0027] Figure 8 A schematic diagram of the shoulder structure of the rope-driven robot provided in an embodiment of this utility model;

[0028] Figure 9 This is a schematic diagram of the motor assembly of the rope-driven robot provided in an embodiment of the present invention.

[0029] Explanation of reference numerals in the attached figures:

[0030] 100 - Chassis; 200 - Body; 300 - Robotic Arm; 400 - Motor Assembly; 500 - Rope Drive Assembly; 600 - Bowden Conduit;

[0031] 210-First parallelogram linkage frame; 211-Base; 212-Connecting seat; 213-First linkage group; 220-First drive mechanism; 221-First motor; 222-First worm; 223-First worm wheel; 230-Second parallelogram linkage frame; 231-Upper support; 232-Second linkage group; 240-Second drive mechanism; 241-Second motor; 242-Second worm; 243-Second worm wheel; 250-Rotation limiting structure; 251-First limiting post; 252-Second limiting post; 253-Stop bar;

[0032] 310-Shoulder structure; 311-Shoulder drive mechanism; 312-Shoulder transmission mechanism; 3121-Driven bevel gear; 3122-Planetary bevel gear; 3123-Driven bevel gear; 3124-Driving bevel gear; 313-Rotating seat; 314-Adapter seat; 320-Upper arm housing; 330-Elbow joint; 331-First roller; 332-Second roller; 333-Connecting frame; 3331-Central connecting rod; 3332-First central shaft; 3333-Second central shaft; 334-Fixing block; 340-Forearm housing; 350-Wrist structure; 360-End gripper; 371-Arm support; 373-First airway connector;

[0033] 410 - Mounting frame; 411 - Motor mounting plate; 412 - Connecting plate; 420 - Motor assembly; 430 - Second bracket; 431 - Second air pipe connector;

[0034] 510-First elbow drive rope; 520-Second elbow drive rope; 530-Pressure wheel; 540-Shoulder rotation wheel; 550-First wrist swing rope assembly; 560-Second wrist swing rope assembly; 570-Wrist rotation rope assembly; 580-Wrist rotation pulley; 581-Wrist pivot; 590-Forearm connecting plate; 591-Wrist rolling rod. Detailed Implementation

[0035] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it.

[0036] Figure 1 This is a partial structural diagram of the rope-driven robot provided in this embodiment. Figure 1As shown, this embodiment provides a rope-driven robot, including a chassis 100, a body 200, a robotic arm 300, and a motor assembly 400. Specifically, the body 200 is mounted on the chassis 100; the robotic arm 300 is mounted on the body 200. The robotic arm 300 includes a shoulder structure 310, an upper arm shell 320, an elbow joint 330, a forearm shell 340, a wrist structure 350, and an end effector 360 arranged sequentially. A rope drive assembly 500 is provided inside the robotic arm 300. The rope drive assembly 500 is configured to give the shoulder structure 310 a rotational degree of freedom, the elbow joint 330 a flexion degree of freedom, and the wrist structure 350 a rotational degree of freedom and a first swinging degree of freedom. The first and second swing degrees of freedom are respectively: the rotation axis of the shoulder structure 310 extends in the front-back direction, and the rotation axis of the wrist structure 350 extends along the length of the robotic arm 300; the swing axes of the first and second swing degrees of freedom are perpendicular to each other and both perpendicular to the rotation axis of the wrist structure 350; the shoulder structure 310 also has pitch and yaw degrees of freedom; the pitch axis of the shoulder structure 310 extends in the left-right direction, and the yaw axis of the shoulder structure 310 extends in the up-down direction; the motor assembly 400 includes a mounting frame 410 for connection with the body 200 and a motor assembly 420 disposed on the mounting frame 410, the motor assembly 420 being drivenly connected to the rope drive assembly 500.

[0037] It should be noted that in this embodiment, in Figure 1 In the coordinate system shown and under the attitude of the tethered robot, the rotation axis of the shoulder structure 310 is along the Y-axis, the pitch axis of the shoulder structure 310 is along the X-axis, and the yaw axis of the shoulder structure 310 is along the Z-axis; the rotation axis of the wrist structure 350 is along the Z-axis, the first swing axis of the wrist structure 350 is along the X-axis, and the second swing axis of the wrist structure 350 is along the Y-axis.

[0038] Through the aforementioned configuration, the rope-driven robot can utilize the chassis 100 to achieve its walking function, enabling it to move to a designated location. By installing a robotic arm 300 on the body 200, and having a shoulder structure 310, upper arm shell 320, elbow joint 330, forearm shell 340, wrist structure 350, and end effector 360 arranged sequentially, the rope-driven robot can perform actions via the robotic arm 300. Specifically, by connecting the rope drive assembly 500 inside the robotic arm 300 to the motor assembly 420 of the motor assembly 400 on the body 200, the motor assembly 420 can drive the rope drive assembly 500, thereby giving the shoulder structure 310 a rotational degree of freedom, the elbow joint 330 a flexion degree of freedom, and the wrist structure 350 a rotational degree of freedom, a first swinging degree of freedom, and a second swinging degree of freedom. In addition, by making the shoulder structure 310 have both pitch and yaw degrees of freedom, the shoulder, elbow and wrist degrees of freedom of the above-mentioned robotic arm 300 are configured in a 3-1-3 configuration, which effectively reduces the inertia of the robotic arm 300.

[0039] It is evident that this rope-driven robot not only reduces the weight of the robotic arm 300 by installing the motor assembly 400 as an independent module on the body 200, thus simplifying the internal structure of the robotic arm 300 and making it lighter overall, but also, the distribution of degrees of freedom in the robotic arm 300 results in a smaller mass inertia at the distal end of the robotic arm 300. This not only improves the response speed but also reduces the impact on surrounding personnel in the event of malfunctions or power outages, thereby enhancing safety.

[0040] Figure 2 This is a schematic diagram of the structure of the body 200 of the rope-driven robot provided in this embodiment when it is in an upright posture; Figure 3 This is a schematic diagram of the structure of the rope-driven robot 200 in a bent posture as provided in this embodiment. Figure 2 and Figure 3As shown, the body 200 may include a first parallelogram linkage frame 210, a first drive mechanism 220, a second parallelogram linkage frame 230, and a second drive mechanism 240. The first parallelogram frame includes a base 211 and a connecting seat 212 facing each other, and a first rod group 213 rotatably disposed between the base 211 and the connecting seat 212. The first drive mechanism 220 is mounted on the base 211 and is used to drive the first rod group 213 to rotate. The second parallelogram linkage frame 230 includes the aforementioned connecting seat 212 and an upper support 231 facing the connecting seat 212, and a second rod group 232 rotatably disposed between the connecting seat 212 and the upper support 231. The second drive mechanism 240 is mounted on the connecting seat 212 and is used to drive the second rod group 232 to rotate. The base 211 is mounted on the chassis 100, the shoulder structure 310 is mounted on the upper support 231, and the mounting frame 410 is mounted on the second parallelogram linkage frame 230.

[0041] The body 200 of this rope-driven robot is connected in series with the first parallelogram link frame 210 and the second parallelogram link frame 230 by sharing a connecting seat 212. A first drive mechanism 220 for rotating the first link group 213 and a second drive mechanism 240 for rotating the second link group 232 are provided, giving the body 200 two degrees of freedom. When bending or uprighting is required, the first drive mechanism 220 drives the first link group 213 to rotate, and the second drive mechanism 240 drives the second link group 232 to rotate, allowing the upper support 231 to maintain its original posture and move up and down.

[0042] It can be seen that by using the interconnected first parallelogram link frame 210 and the second parallelogram link frame 230 to form the body 200, the upper support 231 always maintains a horizontal posture during vertical up and down movement, thus not changing the overall angle posture of the robotic arm 300 connected to the upper support 231.

[0043] Please continue to refer to Figure 2 and Figure 3 In this embodiment, the first linkage 213 includes multiple first connecting rods, and the first drive mechanism 220 includes a first motor 221, a first worm 222, and a first worm wheel 223. The body of the first motor 221 is mounted on the base 211, and the motor shaft of the first motor 221 is connected to the first worm 222 for transmission. The first worm 222 is fixed relative to one of the multiple first connecting rods and is coaxial with the rotation axis of the first connecting rod. The first worm wheel 223 meshes with the first worm 222 for transmission.

[0044] Similarly, the second linkage 232 includes multiple second connecting rods, and the second drive mechanism 240 includes a second motor 241, a second worm 242, and a second worm wheel 243. The body of the second motor 241 is mounted on the connecting seat 212. The motor shaft of the second motor 241 is connected to the second worm 242 for transmission. The second worm wheel 243 is fixed relative to one of the multiple second connecting rods and is coaxial with the rotation axis of the second connecting rod. The second worm wheel 243 meshes with the second worm 242 for transmission.

[0045] When the body 200 needs to switch between a bent posture and an upright posture, the first motor 221 starts, driving the first worm 222 to rotate. Under the meshing action of the first worm 222 and the first worm wheel 223, the rotation of the first worm 222 is transmitted to the first worm wheel 223, causing the first worm wheel 223 to rotate. By setting the first worm wheel 223 to be collinear with the axis of rotation of one of the first connecting rods and relatively fixed to the first connecting rod, the rotation of the first worm wheel 223 will drive the first connecting rod to rotate synchronously, thereby driving the first link assembly 213. At the same time, the second motor 241 starts, driving the second worm 242 to rotate. Under the meshing action of the second worm 242 and the second worm wheel 243, the rotation of the second worm 242 is transmitted to the second worm wheel 243, causing the second worm wheel 243 to rotate. By setting the second worm gear 243 to be collinear with the axis of rotation of one of the second connecting rods and relatively fixed to the second connecting rod, the second connecting rod rotates synchronously during the rotation of the second worm gear 243, thereby driving the second rod group 232, and thus achieving the purpose of raising or lowering the upper support 231.

[0046] This configuration of the first drive mechanism 220 and the second drive mechanism 240 not only provides high driving precision, but also enables power-off protection by utilizing the self-locking function between the first worm 222 and the first worm wheel 223 and between the second worm 242 and the second worm wheel 243.

[0047] Figure 4 for Figure 3 A magnified view of the local structure at point A. Please continue referring to this. Figure 3 and combined Figure 4 In this embodiment, a rotation limiting structure 250 is provided between the second rod group 232 and the connecting seat 212, wherein the rotation limiting structure 250 is used to limit the rotation angle of the second rod group 232.

[0048] The aforementioned rotation limiting structure 250 can limit the rotation range of the second rod group 232, preventing interference with other structures due to the excessive rotation range of the second parallelogram linkage frame 230.

[0049] Please continue to refer to Figure 4In this embodiment, the rotation limiting structure 250 may include a first limiting post 251, a second limiting post 252, and a stop bar 253. The first limiting post 251 and the second limiting post 252 are both fixedly disposed on the connecting seat 212, and the first limiting post 251 and the second limiting post 252 are arranged circumferentially at intervals along the rotation axis of one of the multiple second connecting rods. The stop bar 253 is fixedly disposed on the second connecting rod corresponding to the rotation axis, and the stop bar 253 extends between the first limiting post 251 and the second limiting post 252.

[0050] This method of limiting the rotation of the second connecting rod by using the cooperation of the stop bar 253 with the first limiting post 251 and the second limiting post 252 is not only reliable in limiting the rotation, but also has a simple structure.

[0051] Figure 5 This is one of the schematic diagrams of the internal structure of the robotic arm 300 of the rope-driven robot provided in this embodiment; Figure 6 This is the second schematic diagram of the internal structure of the robotic arm 300 of the rope-driven robot provided in this embodiment. Please continue to refer to... Figure 1 and combined Figure 5 and Figure 6 In this embodiment, the elbow joint 330 may include a first roller 331 and a second roller 332 tangentially arranged, and a connecting frame 333. Specifically, the first roller 331 and the second roller 332 are both rotatably mounted on the connecting frame 333, and the first roller 331 is pivotally connected to the lower arm housing, and the second roller 332 is pivotally connected to the upper arm housing. The rope drive assembly 500 includes a first elbow drive rope 510 for driving the elbow joint 330 to perform a lifting action and a second elbow drive rope 520 for driving the elbow joint 330 to perform a lowering action. The number of first elbow drive ropes 510 is greater than the number of second elbow drive ropes 520. The motor assembly 420 includes an elbow motor, and each first elbow drive rope 510 is connected to a different elbow motor.

[0052] In the elbow joint 330, the first roller 331 and the second roller 332 are tangentially mounted on the connecting frame 333 and both rotate, forming a pure rolling structure. By setting the number of first elbow drive ropes 510 to be greater than the number of second elbow drive ropes 520, and providing each first elbow drive rope 510 with a drive motor for its retraction and extension, on the one hand, when the elbow joint 330 performs a lifting action, the larger number of first elbow drive ropes 510 can be used to generate a larger torque to meet the large load requirements of the lifting action; on the other hand, when the elbow joint 330 performs a lowering action, the smaller number of second elbow drive ropes 520 can be used to achieve the lowering purpose with a smaller torque. On the other hand, the simultaneous movement of the first elbow drive rope 510 and the second elbow drive rope 520 can also achieve antagonistic stiffness adjustment. Specifically, when both the first elbow drive rope 510 and the second elbow drive rope 520 are tightened, the stiffness of the elbow joint 330 increases; when both the first elbow drive rope 510 and the second elbow drive rope 520 are relaxed, the stiffness of the elbow joint 330 decreases. Thus, stiffness adaptation can be achieved under different task scenarios. For example, when performing tasks requiring high precision, the elbow joint 330 can have greater stiffness to ensure the accuracy of the robotic arm 300; when interacting with the user, the stiffness can be reduced to better facilitate safe human-machine interaction, so that even if the robotic arm 300 malfunctions or goes out of control, it will not cause significant harm to the user.

[0053] Therefore, by setting different numbers of first elbow drive ropes 510 and second elbow drive ropes 520, the elbow joint 330 can utilize the simultaneous tightening or loosening of the first elbow drive ropes 510 and second elbow drive ropes 520 to make the driving effects generated by the first elbow drive ropes 510 and second elbow drive ropes 520 cancel each other out. Thus, the antagonistic effect of the first elbow drive ropes 510 and second elbow drive ropes 520 can adapt to the usage requirements of different task scenarios.

[0054] Please continue to refer to Figure 5 and Figure 6 In this embodiment, the connecting frame 333 may include a central connecting rod 3331, a first central shaft 3332, and a second central shaft 3333. The first central shaft 3332 is rotatably mounted on one end of the central connecting rod 3331, and a first roller 331 is fixedly fitted onto the first central shaft 3332. The second central shaft is rotatably mounted on the other end of the central connecting rod 3331, and a second roller 332 is fixedly fitted onto the second central shaft 3333.

[0055] In this embodiment, there are two first elbow drive ropes 510 and one second elbow drive rope 520.

[0056] It should be noted that the second elbow drive rope 520 can be wound around another motor, or it can be wound together with one of the first elbow drive ropes 510 around the same motor.

[0057] Please continue to refer to Figure 5 and Figure 6 In this embodiment, the side of the first roller 331 facing away from the second roller 332 is the front of the elbow joint 330, and the side of the second roller 332 facing away from the first roller 331 is the back of the elbow joint 330. One end of both the first elbow drive rope 510 and the second elbow drive rope 520 is fixedly connected to the first roller 331 at the front. The rope drive assembly 500 also includes a pressure roller 530, wherein the pressure roller 530 is rotatably pressed against the back. The first elbow drive rope 510 and the second elbow drive rope 520 are both wound in a "∽" shape around the first roller 331 and the second roller 332, and the winding direction of the first elbow drive rope 510 and the second elbow drive rope 520 is centrally symmetrical about the point of tangency between the pressure roller 530 and the elbow joint 330.

[0058] The way the first elbow drive rope 510 and the second elbow drive rope 520 are wound not only ensures that the first roller 331 and the second roller 332 always maintain pure rolling contact, thereby improving the control accuracy of the elbow joint 330, but also makes the winding method simple.

[0059] Please continue to refer to Figure 5 In this embodiment, the first elbow drive rope 510 and the second elbow drive rope 520 are fixed to the front of the elbow joint 330 by a fixing block 334.

[0060] Please continue to refer to Figure 1 In this embodiment, the robotic arm 300 is provided with a first bracket, which is provided with a plurality of first air pipe plugs 373. The mounting frame 410 is connected to a second bracket 430, which is provided with a plurality of second air pipe plugs 431. The rope-driven robot may also include a Bowden conduit 600, wherein one end of the Bowden conduit 600 is inserted and fixed to the first air pipe plug 373, and the other end of the Bowden conduit 600 is inserted and fixed to the second air pipe plug 431. The drive rope of the rope drive assembly 500 passes through the first air pipe plug 373, the Bowden conduit 600 and the second air pipe plug 431 in sequence, and is connected to the corresponding motor in the motor assembly 420.

[0061] The aforementioned Bowden cable 600 configuration enables the drive rope to cross multiple joints between the robotic arm 300 and the motor assembly 420 of the body 200. The structure is simple. Moreover, this method of connecting the Bowden cable 600 using the first air pipe plug 373 and the second air pipe plug 431 also enables the rapid connection and disconnection of the Bowden cable 600 at the positions of the first support and the second support 430, resulting in high efficiency.

[0062] Please continue to refer to Figure 1 Specifically, in this embodiment, the first support includes an arm support 371 disposed inside the upper arm housing.

[0063] Figure 7 This is a structural schematic diagram of the robotic arm 300 of the rope-driven robot provided in this embodiment; Figure 8 This is a schematic diagram of the shoulder structure 310 of the rope-driven robot provided in this embodiment. Figure 7 and Figure 8 As shown, the shoulder structure 310 may include a shoulder drive mechanism 311, a shoulder transmission mechanism 312, and a rotating seat 313. Specifically, the shoulder transmission mechanism 312 includes two driven bevel gears 3121 rotatably arranged around a vertical axis, and a planetary bevel gear 3122 meshing with the two driven bevel gears 3121 simultaneously. The two driven bevel gears 3121 are mirror-symmetrical about a horizontal plane, and the rotating seat 313 is fixedly arranged on the planetary bevel gear 3122. The shoulder drive mechanism 311 is configured as two sets, each corresponding to one of the two sets of shoulder transmission mechanisms 312. The two sets of shoulder drive mechanisms 311 are configured to: drive the two driven bevel gears 3121 to rotate in the same direction, so as to drive the rotating seat 313 to pitch through the planetary bevel gear 3122; and drive the two driven bevel gears 3121 to rotate in opposite directions, so as to drive the rotating seat 313 to deflect through the planetary bevel gear 3122.

[0064] This method of using a differential structure to achieve pitch and yaw motion results in smooth transmission and high transmission accuracy.

[0065] Please continue to refer to Figure 8 In this embodiment, the shoulder transmission mechanism 312 further includes a drive bevel gear 3124 that is directly driven to rotate by the shoulder drive mechanism 311 and an active bevel gear 3123 that meshes with the drive bevel gear 3124. The active bevel gear 3123 and the driven bevel gear 3121 are coaxially fixedly arranged, so that when the drive bevel gear 3124 drives the active bevel gear 3123 to rotate, the driven bevel gear 3121 rotates synchronously, thereby realizing the drive of the planetary bevel gear 3122.

[0066] Please continue to refer to Figure 8 In this embodiment, the shoulder structure 310 may further include an adapter 314, specifically, the adapter 314 is rotatably connected to the rotating seat 313; the rope drive assembly 500 also includes a shoulder swivel wheel 540 and a shoulder drive rope, and the motor assembly 420 also includes a shoulder swivel motor, wherein the shoulder swivel wheel 540 is coaxial with the shaft of the adapter 314 and is fixed relative to the adapter 314, the shoulder drive rope is tightly wound around the shoulder swivel wheel 540, and both ends of the shoulder drive rope are connected to the motor shaft of the shoulder swivel motor; the upper arm housing 320 is connected to the adapter 314.

[0067] When the shoulder structure 310 needs to perform rotational movements, for Figure 1 The coordinate axis shown indicates that when the shoulder structure 310 needs to rotate around the Y-axis, the shoulder rotation motor is activated, using the shoulder drive rope to drive the shoulder rotation wheel 540 to rotate, thereby driving the rotation of the adapter 314 and thus realizing the arm movement. The rotational movement of the shoulder structure 310 in two directions can be achieved by the forward and reverse rotation of the shoulder rotation motor, respectively.

[0068] Please continue to refer to Figure 8 In this embodiment, the rotating seat 313 is also provided with a first air pipe plug 373.

[0069] Figure 9 This is a structural schematic diagram of the motor assembly 400 of the rope-driven robot provided in this embodiment. Figure 9 As shown, in this embodiment, the mounting frame 410 may include two motor mounting plates 411 disposed opposite to each other and two connecting plates 412 connected between the two motor mounting plates 411. The two motor mounting plates 411 and the two connecting plates 412 form a mounting cavity for accommodating the body of each motor in the motor assembly 420. The motor shaft of each motor extends in a direction away from the mounting cavity to connect with the corresponding drive rope.

[0070] It should be noted that, in this embodiment, the drive ropes used to control the shoulder structure 310, elbow joint 330 and wrist structure 350 are not limited to which motor they are connected to.

[0071] In this embodiment, the drive rope for controlling the left arm movement is connected to the motor assembly on the right side of the motor assembly 400, and the drive rope for controlling the right arm movement is connected to the motor assembly on the left side of the motor assembly 400. This arrangement can reduce the bending of the drive rope, thereby ensuring the smoothness of pulling the drive rope.

[0072] Please continue to refer to Figure 5 and Figure 6In this embodiment, the rope drive assembly 500 may further include a first wrist swing rope group 550, a second wrist swing rope group 560, a wrist rotation rope group 570, a wrist rotation pulley 580, a wrist pivot 581, and a forearm connecting plate 590. The wrist rotation pulley 580 is rotatably mounted on the forearm housing 340 about the rotation axis of the wrist structure 350, and the wrist pivot 581 is fixedly mounted on the wrist rotation pulley 580. The wrist rotation rope group 570 includes a first wrist rotation drive rope and a second wrist rotation drive rope, which are wound around the wrist rotation pulley 590 in opposite directions. 80, used to drive the wrist rotation pulley 580 to rotate in the opposite direction; the forearm connecting plate 590 is fixedly connected to the forearm shell 340, and the forearm connecting plate 590 has a clearance hole for the wrist pivot 581 to pass through, and the wrist structure 350 is connected to the wrist pivot 581; the forearm connecting plate 590 also has multiple rope holes, and the first wrist swing rope group 550 and the second wrist swing rope group 560 are both connected to the wrist structure 350 through the rope holes. The first wrist swing rope group 550 is used to give the wrist structure 350 a first swing freedom, and the second wrist swing rope group 560 is used to give the wrist structure 350 a second swing freedom.

[0073] When the wrist structure 350 needs to rotate, the first and second wrist rotation drive ropes can be used to drive the wrist rotation pulley 580, causing the wrist rotation pulley 580 to rotate relative to the forearm shell 340. During the rotation of the wrist rotation pulley 580, the wrist pivot 581, which is fixedly connected to the wrist rotation pulley 580, rotates, thereby realizing the rotation of the wrist structure 350 connected to the wrist pivot 581. When the wrist structure 350 needs to generate a first degree of swing freedom, the first wrist swing rope group 550 actuates, driving the wrist structure 350 to swing around the first wrist swing axis. The first wrist swing rope group 550 includes two drive ropes, used to achieve forward and reverse swinging of the wrist structure 350 around the first wrist swing axis, respectively. When the wrist structure 350 needs to generate a second degree of swing freedom, the second wrist swing rope group 560 actuates, driving the wrist structure 350 to swing around the second wrist swing axis. The second wrist swing rope group 560 also includes two drive ropes, used to achieve forward and reverse swinging of the wrist structure 350 around the second wrist swing axis, respectively. In this embodiment, the two drive ropes of the first wrist swing rope group 550 and the two drive ropes of the second wrist swing rope group 560 are alternately arranged along the rotation direction of the wrist structure 350.

[0074] The above-described configuration of the rope drive assembly 500 enables the wrist structure 350 to have rotational freedom, a first swinging freedom, and a second swinging freedom, resulting in a simple drive structure and reliable drive.

[0075] Please continue to refer to Figure 5 andFigure 6 In this embodiment, a wrist rolling rod 591 is provided between the forearm connecting plate 590 and the wrist structure 350 to provide support between the forearm connecting plate 590 and the wrist structure 350 without affecting the rotation and swinging motion of the wrist structure 350.

[0076] It should be noted that the specific structure of the end effector 360 can refer to existing technology, and since it is not the focus of improvement in this application, it will not be described in detail here; this embodiment only applies to... Figure 1 The diagram illustrates one of the Bowden conduits 600.

[0077] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

[0078] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0079] In the above embodiments, descriptions of directions such as "up", "down", "left", "right", "front", "back", and "side" are all based on the accompanying drawings.

[0080] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention 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, characterized in that, The application relates to a robot, which comprises a chassis (100), a body (200), a mechanical arm (300) and a motor assembly (400), wherein the body (200) is mounted on the chassis (100); the mechanical arm (300) is mounted on the body (200), and the mechanical arm (300) comprises a shoulder structure (310), a large-arm shell (320), an elbow joint (330), a small-arm shell (340), a wrist structure (350) and an end gripper (360) arranged in sequence; a rope driving assembly (500) is arranged inside the mechanical arm (300), and the rope driving assembly (500) is configured to enable the shoulder structure (310) to have a rotation degree of freedom, enable the elbow joint (330) to have a flexion degree of freedom, and enable the wrist structure (350) to have a rotation degree of freedom, a first swing degree of freedom and a second swing degree of freedom; the rotation axis of the shoulder structure (310) extends along the front-back direction; the rotation axis of the wrist structure (350) extends along the length direction of the mechanical arm (300); the swing axes of the first swing degree of freedom and the second swing degree of freedom are perpendicular to each other and perpendicular to the rotation axis of the wrist structure (350); the shoulder structure (310) further has a pitch degree of freedom and a yaw degree of freedom; the pitch axis of the shoulder structure (310) extends along the left-right direction; and the yaw axis of the shoulder structure (310) extends along the up-down direction; the motor assembly (400) comprises a mounting frame (410) used for being connected with the body (200) and a motor assembly (420) arranged on the mounting frame (410); and the motor assembly (420) is drivingly connected with the rope driving assembly (500).

2. The rope-driven robot according to claim 1, characterized in that, The body (200) comprises a first parallelogram linkage frame (210), a first driving mechanism (220), a second parallelogram linkage frame (230) and a second driving mechanism (240), wherein the first parallelogram linkage frame (210) comprises opposite bases (211) and connecting seats (212), and a first rod group (213) rotatably arranged between the bases (211) and the connecting seats (212); the first driving mechanism (220) is mounted on the bases (211) and used for driving the first rod group (213) to rotate; the second parallelogram linkage frame (230) comprises the connecting seats (212) and an upper support (231) opposite to the connecting seats (212), and a second rod group (232) rotatably arranged between the connecting seats (212) and the upper support (231); the second driving mechanism (240) is mounted on the connecting seats (212) and used for driving the second rod group (232) to rotate; the bases (211) are mounted on the chassis (100); the shoulder structure (310) is mounted on the upper support (231); and the mounting frame (410) is mounted on the second parallelogram linkage frame (230).

3. The rope-driven robot according to claim 2, wherein The first rod group (213) comprises a plurality of first connecting rods, the first driving mechanism (220) comprises a first motor (221), a first worm (222) and a first worm wheel (223), a body of the first motor (221) is mounted to the base (211), a motor shaft of the first motor (221) is in driving connection with the first worm (222), the first worm wheel (223) is fixed opposite to one of the plurality of first connecting rods and coaxial with a rotation shaft of the first connecting rod, and the first worm wheel (223) is in meshing transmission with the first worm (222). The second rod group (232) comprises a plurality of second connecting rods, the second driving mechanism (240) comprises a second motor (241), a second worm (242) and a second worm wheel (243), a body of the second motor (241) is mounted to the connecting base (212), a motor shaft of the second motor (241) is in driving connection with the second worm (242), the second worm wheel (243) is fixed opposite to one of the plurality of second connecting rods and coaxial with a rotation shaft of the second connecting rod, and the second worm wheel (243) is in meshing transmission with the second worm (242).

4. The rope driven robot according to claim 2, characterized in that, The second rod group (232) and the connecting base (212) are provided with a rotation limiting structure (250) for limiting a rotation angle of the second rod group (232).

5. The rope driven robot according to claim 1, characterized in that, The elbow joint (330) comprises a first roller (331) and a second roller (332) arranged tangentially, and a connecting frame (333), the first roller (331) and the second roller (332) are both rotationally mounted to the connecting frame (333), the first roller (331) is pivotally connected to the small arm shell (340), and the second roller (332) is pivotally connected to the large arm shell (320); the rope driving assembly (500) comprises a first elbow driving rope (510) for driving the elbow joint (330) to perform a lifting action and a second elbow driving rope (520) for driving the elbow joint (330) to perform a lowering action, the number of the first elbow driving ropes (510) is greater than the number of the second elbow driving ropes (520), and the motor assembly (420) comprises an elbow motor, and each first elbow driving rope (510) is connected to a different elbow motor.

6. The rope-driven robot according to claim 5, wherein The first roller (331) is provided with a front surface of the elbow joint (330), and the second roller (332) is provided with a rear surface of the elbow joint (330). One end of each of the first elbow driving rope (510) and the second elbow driving rope (520) is fixedly connected to the first roller (331) at the front surface. The rope driving assembly (500) further comprises a pressing roller (530) rotatably pressed against the rear surface. The first elbow driving rope (510) and the second elbow driving rope (520) are arranged in a "∽" shape around the first roller (331) and the second roller (332), and the winding directions of the first elbow driving rope (510) and the second elbow driving rope (520) are centrally symmetric with respect to the tangent point of the pressing roller (530) and the elbow joint (330).

7. The rope driven robot according to claim 1, characterized in that, The mechanical arm (300) is provided with a first support provided with a plurality of first air pipe connectors (373), and the mounting frame (410) is connected with a second support (430) provided with a plurality of second air pipe connectors (431). The rope-driven robot further comprises a Bowden cable tube (600) having one end fixedly connected to the first air pipe connector (373) and the other end fixedly connected to the second air pipe connector (431). The driving rope of the rope driving assembly (500) sequentially passes through the first air pipe connector (373), the Bowden cable tube (600) and the second air pipe connector (431), and is connected to the corresponding motor in the motor assembly (420).

8. The rope driven robot according to claim 1, characterized in that, The shoulder structure (310) comprises a shoulder driving mechanism (311), a shoulder transmission mechanism (312) and a rotating seat (313). The shoulder transmission mechanism (312) comprises two driven bevel gears (3121) rotating around a vertical axis and a planet bevel gear (3122) simultaneously meshing with the two driven bevel gears (3121). The two driven bevel gears (3121) are mirror-symmetric in a horizontal plane. The rotating seat (313) is fixedly arranged on the planet bevel gear (3122). The shoulder driving mechanism (311) is arranged in two groups, each corresponding to the shoulder transmission mechanism (312). The two groups of shoulder driving mechanisms (311) are configured to drive the two driven bevel gears (3121) to rotate in the same direction to drive the rotating seat (313) to perform pitching movement through the planet bevel gear (3122), and to drive the two driven bevel gears (3121) to rotate in opposite directions to drive the rotating seat (313) to perform deflection movement through the planet bevel gear (3122).

9. The rope-driven robot according to claim 8, characterized in that, The shoulder structure (310) further comprises an adapter (314) rotationally connected with the rotating seat (313); the rope driving assembly (500) further comprises a shoulder swing wheel (540) and a shoulder driving rope, the motor assembly (420) further comprises a shoulder swing motor, the shoulder swing wheel (540) is coaxial with the rotating shaft of the adapter (314) and is fixed opposite to the adapter (314), the shoulder driving rope is tightly wound on the shoulder swing wheel (540), and both ends of the shoulder driving rope are connected to the motor shaft of the shoulder swing motor; the large arm shell (320) is connected to the adapter (314).

10. The rope driven robot according to claim 1, characterized in that, The rope driving assembly (500) further comprises a first wrist swing rope group (550), a second wrist swing rope group (560), a wrist swing rope group (570), a wrist rotating pulley (580), a wrist rotating shaft (581) and a small arm connecting plate (590), wherein the wrist rotating pulley (580) is rotationally installed on the small arm shell (340) around a wrist structure (350) swing axis, and the wrist rotating shaft (581) is fixedly arranged on the wrist rotating pulley (580); the wrist swing rope group (570) comprises a first wrist swing driving rope and a second wrist swing driving rope, the first wrist swing driving rope and the second wrist swing driving rope are wound in opposite directions on the wrist rotating pulley (580) for driving the wrist rotating pulley (580) to rotate in opposite directions; the small arm connecting plate (590) is fixedly connected with the small arm shell (340), the small arm connecting plate (590) is provided with a avoiding hole for the wrist rotating shaft (581) to pass through, and the wrist structure (350) is connected to the wrist rotating shaft (581); the small arm connecting plate (590) is further provided with a plurality of rope passing holes, the first wrist swing rope group (550) and the second wrist swing rope group (560) are connected to the wrist structure (350) through the rope passing holes, the first wrist swing rope group (550) is used for enabling the wrist structure (350) to have the first swing degree of freedom, and the second wrist swing rope group (560) is used for enabling the wrist structure (350) to have the second swing degree of freedom.

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