Tendon rope driving structure

Abstract

The utility model discloses a tendon rope driving structure which comprises a main body piece, a driving assembly in the main body piece, a gear mechanism, a guide wheel set and a sensor set. A magnet is arranged on the gear mechanism; one end of the tendon rope is wound on the gear mechanism, and the other end of the tendon rope is half wound on the guide wheel set and then extends out of the main body piece; the driving assembly drives the gear mechanism to rotate to drive the guide wheel set to rotate so as to achieve stretching of the tendon rope. The magnet is used for detecting the rotation angle of the gear mechanism so as to calculate the change of the length of the tendon rope; and the sensor group is used for detecting the pressure change of the guide wheel group so as to detect the tension change of the tendon rope. The tension and length changes of the tendon rope are monitored in real time, so that the manipulator can realize accurate force / position closed-loop control, and the damage caused by slippage or overload due to insufficient tension is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot manipulator technical field, concretely relates to a tendon driving structure. BACKGROUND

[0002] Tendon driving manipulator is a kind of bionic design, and its inspiration comes from the tendon-skeletal system of human finger.The existing tendon driving manipulator mainly has the problem of low integration of driving unit, and usually relies on the performance of motor itself for force control and position control.If the driving unit does not use transmission structure with self-locking function, its load capacity is weak, but when some transmission mechanisms with self-locking performance are used, it is difficult to achieve precise force control effect relying on the control performance of motor itself, and when position control is carried out, the motor needs to move more turns to make the manipulator reach the target position due to the existence of speed reducer, and the single-turn encoder on the motor is difficult to effectively monitor and control the position. SUMMARY

[0003] The utility model aims at overcoming at least one of the above-mentioned prior art defects, providing a tendon driving structure to realize the detection of tendon length and tension change, and facilitate more precise control of the manipulator.

[0004] The utility model provides a tendon driving structure, including main part, driving assembly, gear mechanism, guide wheel group and sensor group in main part, be equipped with magnet on gear mechanism, one end of tendon is wound gear mechanism, and the other end half winding guide wheel group after extending out main part, driving assembly is driven gear mechanism rotates and drives guide wheel group rotates to realize the stretching of tendon, magnet is used for detecting the rotation angle of gear mechanism to calculate the change of tendon length, sensor group is used for detecting the pressure change of guide wheel group to detect the tension change of tendon.

[0005] The main part is a mounting and supporting structure, which protects the internal structure and component mounting and fixing purposes.The driving assembly rotates, and drives the gear mechanism to rotate, since the tendon is fixed with the gear mechanism, when it rotates, the magnet rotates simultaneously, the rotation angle of the gear mechanism is obtained by collecting the magnetic field change of the magnet, and the length change of the tendon can be calculated by the angle, since the tendon passes through the guide wheel group, when the tendon is tensioned, the guide wheel group will bear the pressure, and the resistance value of the sensor group will change, and the tension change on the tendon can be obtained by the resistance value change.

[0006] Further, the gear mechanism includes a worm, a worm wheel and a drive wheel, the worm is connected to the driving assembly, the worm wheel is engaged with the worm, the drive wheel is sleeved above the worm wheel, and one end of the tendon is wound on the side of the drive wheel.

[0007] The gear mechanism of this utility model preferably uses a worm gear drive; the worm rotates under the drive of the drive assembly, and the gear on the worm wheel meshes with the worm, thereby changing the driving plane. The upper edge of the worm wheel is cylindrical, and the drive wheel is sleeved on the upper edge of the cylinder, rotating synchronously with the worm wheel. The side of the drive wheel is provided with a groove, and the tendon rope is wound and fixed in the groove of the drive wheel.

[0008] Preferably, the magnet is a radial magnet, which is sleeved on the inner side of the worm gear. The main body has a mounting post, and the radial magnet is sleeved on the mounting post for rotatable connection. The worm gear is further sleeved on the radial magnet to achieve coaxial and synchronous rotation of the worm gear, the radial magnet, and the drive wheel.

[0009] Furthermore, the drive assembly includes a motor assembly and a drive board; the motor assembly is connected to the worm gear; the drive board is electrically connected to the motor assembly and the sensor group. The drive board is a circuit board that integrates various electrical components and functional modules. Preferably, the motor assembly is a hollow cup brushless geared motor and also includes a Hall element, which is disposed on the drive board. The Hall element is used to sense changes in the magnetic field, thereby obtaining the rotation angle of the worm gear, and calculating the change in the length of the tendon rope by means of the rotation angle.

[0010] Furthermore, the guide wheel assembly includes a first guide wheel and a second guide wheel; the sensor assembly is located on the underside of the first guide wheel and the second guide wheel.

[0011] Preferably, the sensor group is a resistive sensor. The sensor group includes a strain bridge and strain gauges; the strain bridge is disposed above the drive plate, and the strain gauges are attached to the side of the strain bridge; the guide wheel assembly is disposed above the strain bridge.

[0012] Furthermore, the main body includes an upper shell, a lower shell, and a mounting plate; the upper shell and the lower shell are interlocked and detachable; the upper shell is provided with a mounting groove, the mounting plate is installed in the mounting groove, and the guide wheel assembly is embedded in the mounting plate.

[0013] Specifically, the hollow cup brushless reduction motor rotates to drive the worm to rotate, thereby driving the worm wheel to rotate, the driving wheel, the worm wheel and the radial magnet are fixed, and the tendon rope is also fixed on the driving wheel, when it rotates, the radial magnet rotates at the same time, the Hall element arranged on the driving plate collects the magnetic field change of the magnet, thereby obtaining the rotation angle of the worm wheel, and then calculating the length change of the tendon rope; since the tendon rope passes through the first guide wheel and the second guide wheel, and the strain gauge is attached to the strain bridge, when the tendon rope is tensioned, the second guide wheel will bear pressure, and the resistance value of the strain gauge will change, and through the resistance value change, the tension change of the tendon rope can be obtained.

[0014] Compared with the prior art, the utility model has the advantages that:

[0015] The utility model discloses through real -time monitoring tendon rope's tension and length change, and the mechanical hand can realize accurate force / position closed -loop control, avoids the damage caused by the slippage or overload due to the insufficient tension.The length change of tendon rope is directly related to joint angle, and the measured data can be used for inverse kinematics calculation, ensuring the accurate positioning of the mechanical finger.The driving structure of the utility model has simple overall structure, reasonable design and low cost, and is suitable for widely used.Meanwhile, the real -time monitoring of the tension and length change of tendon rope can be realized, and the reliability is high. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the three -dimensional structure schematic view of the tendon rope driving structure of the utility model.

[0017] Figure 2 It is the internal structure schematic view of the tendon rope driving structure of the utility model.

[0018] Figure 3 It is the explosion structure schematic view of the tendon rope driving structure of the utility model. DETAILED DESCRIPTION

[0019] The drawings in the embodiment, the technical scheme in the embodiment of the utility model is described in more detail.In the drawings, same or similar reference signs represent same or similar elements or elements with same or similar functions throughout the description.The described embodiment is a part of the embodiment of the utility model, not all the embodiment.The embodiment described below by referring to the drawings is exemplary, and is intended to explain the utility model, and can not be understood as the limitation of the utility model.Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skill in the art without making creative labor are within the scope of protection of the utility model.The embodiment of the utility model is described in detail below in combination with the drawings.

[0020] It should be noted that if the application embodiments have directionality indication (such as up, down, left, right, front, back, etc.), the directionality indication is only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), if the certain posture changes, the directionality indication also changes accordingly.

[0021] In addition, if the application embodiments have descriptions such as "first", "second", etc., the "first", "second", etc. descriptions are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the application.

[0022] Embodiments

[0023] The embodiment provides a tendon driving structure, as shown in the figure, comprising an upper shell 11, a lower shell 12 and a mounting plate 13; the upper shell 11 and the lower shell 12 are mutually buckled and detachably mounted; in combination Figure 1 as shown, further comprising a driving assembly 2, a gear mechanism 3, a guide wheel set 4, a sensor set 5 and a radial magnet 6; the upper shell 11 is provided with a mounting groove, the mounting plate 13 is mounted on the mounting groove, and the guide wheel set 4 is embedded in the mounting plate 13. The driving assembly 2 rotates to drive the gear mechanism 3 to rotate, since the tendon 7 is fixed with the gear mechanism 3, when it rotates, the radial magnet 6 rotates at the same time. Figures 2-3

[0024] In combination Figure 3 ​The gear mechanism 3 includes a worm 31, a worm wheel 32 and a driving wheel 33; the worm 31 is connected with the driving assembly 2, the worm wheel 32 is engaged with the worm 31, the driving wheel 33 is sleeved above the worm wheel 32, and one end of the tendon 7 is wound on the side of the driving wheel 33. The radial magnet 6 is sleeved on the inner side of the worm wheel 32. The lower shell 12 is internally provided with a mounting column 10, the radial magnet 6 is sleeved on the mounting column 10 to realize rotary connection, the upper edge of the worm wheel 32 is in a cylindrical shape, the driving wheel 33 is sleeved on the cylindrical upper edge and realizes synchronous rotation under the rotation of the worm wheel 32. The side of the driving wheel 33 is provided with a wire slot, and the tendon 7 is wound or half-wound and fixed in the wire slot of the driving wheel 33. Therefore, the coaxial synchronous rotation of the worm wheel 32, the radial magnet 6 and the driving wheel 33 is realized through the rotation of the worm wheel 32. The utility model also includes a Hall element, the Hall element is used for sensing the change of a magnetic field, so that the rotation angle of the worm wheel 32 is obtained, and the length change of the tendon 7 is calculated through the rotation angle. Since the tendon 7 passes through the guide wheel set 4, when the tendon 7 is tensioned, the guide wheel set 4 will bear pressure, and the resistance value of the sensor set 5 will change, and through the resistance value change, the tension change on the tendon 7 can be obtained

[0025] The driving assembly 2 includes a motor assembly 21 and a driving plate 22; the Hall element is integrated on the driving plate 22. The motor assembly 21 is connected with the worm 31; the driving plate 22 is electrically connected with the motor assembly 21 and the sensor set 5. The driving plate 22 is a circuit board, on which various electric elements and functional modules are integrated. In the embodiment, the motor assembly 21 is a hollow cup brushless reduction motor, the guide wheel set 4 includes a first guide wheel 41 and a second guide wheel 42; the sensor set 5 includes a strain bridge 51 and a strain sheet 52; the strain bridge 51 is arranged above the driving plate 22, the strain sheet 52 is attached to the side of the strain bridge 51; the first guide wheel 41 and the second guide wheel 42 are arranged on the upper side of the strain bridge 51, and the strain bridge 51 is provided with a convex column 20, and the second guide wheel 42 is installed on the convex column 20, so that the change of pressure of the second guide wheel 42 can be sensed by the strain sheet 52 arranged on the strain bridge 51.

[0026] Specifically, the working principle of the embodiment is as follows: first, the hollow cup brushless reduction motor is driven to rotate by an external power supply or a battery, and then the worm 31 is driven to rotate, thereby driving the worm wheel 32 to rotate, the driving wheel 33, the worm wheel 32 and the radial magnet 6 are fixed, and the tendon 7 is also fixed on the driving wheel 33, when it rotates, the radial magnet 6 rotates at the same time, the magnetic field change of the magnet is collected through the Hall element arranged on the driving plate 22, thereby obtaining the rotation angle of the worm wheel 32, and then the length change of the tendon 7 is calculated; since the tendon 7 passes through the first guide wheel 41 and the second guide wheel 42, and the strain gauge 52 is attached to the strain bridge 51, when the tendon 7 is tensioned, the second guide wheel 42 will bear pressure, and the resistance value of the strain gauge 52 will change, through the resistance value change, the tension change on the tendon 7 can be obtained.

[0027] The above embodiments are only used to illustrate the technical scheme of the utility model and not limit it, although the utility model has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical scheme of the utility model can be modified or replaced equivalently without departing from the spirit and scope of the utility model technical scheme. Those skilled in the art can also make other changes within the spirit of the utility model and use them in the design of the utility model, as long as they do not deviate from the technical effects of the utility model. These changes made according to the spirit of the utility model should be included in the scope of protection of the utility model.

Claims

1. A tendon chord drive structure, characterized in that, The device includes a main body, a drive assembly (2), a gear mechanism (3), a guide wheel assembly (4), and a sensor assembly (5) within the main body; the gear mechanism (3) is provided with a magnet; one end of a tendon rope (7) is wrapped around the gear mechanism (3), and the other end is partially wrapped around the guide wheel assembly (4) and extends out of the main body; The drive assembly (2) drives the gear mechanism (3) to rotate, thereby driving the guide wheel assembly (4) to rotate, so as to stretch the tendon rope (7); The magnet is used to detect the rotation angle of the gear mechanism (3) to calculate the change in the length of the tendon rope (7); the sensor group (5) is used to detect the pressure change of the guide wheel group (4) to detect the tension change of the tendon rope (7).

2. The tendon chord drive structure according to claim 1, characterized in that, The gear mechanism (3) includes a worm (31), a worm wheel (32), and a drive wheel (33); the worm (31) is connected to the drive assembly (2), the worm wheel (32) meshes with the worm (31), the drive wheel (33) is sleeved above the worm wheel (32), and one end of the tendon rope (7) is wrapped around the side of the drive wheel (33).

3. The tendon chord drive structure according to claim 2, characterized in that, The magnet is a radial magnet (6), which is sleeved on the inner side of the worm gear (32).

4. The tendon chord drive structure according to claim 2, characterized in that, The drive assembly (2) includes a motor assembly (21) and a drive board (22); the motor assembly (21) is connected to the worm gear (31); the drive board (22) is electrically connected to the motor assembly (21) and the sensor group (5).

5. The tendon chord drive structure according to claim 4, characterized in that, The motor assembly (21) is a hollow cup brushless geared motor.

6. The tendon chord drive structure according to claim 4, characterized in that, It also includes a Hall element, which is disposed on the drive board (22).

7. The tendon chord drive structure according to claim 1, characterized in that, The guide wheel assembly (4) includes a first guide wheel (41) and a second guide wheel (42); the sensor assembly (5) is located on the underside of the first guide wheel (41) and the second guide wheel (42).

8. The tendon chord drive structure according to claim 1, characterized in that, The sensor group (5) is a resistive sensor.

9. The tendon chord drive structure according to claim 4, characterized in that, The sensor group (5) includes a strain bridge (51) and a strain gauge (52); the strain bridge (51) is located above the drive plate (22), and the strain gauge (52) is attached to the side of the strain bridge (51); the guide wheel group (4) is located on the upper side of the strain bridge (51).

10. The tendon chord drive structure according to any one of claims 1 to 9, characterized in that, The main body includes an upper shell (11), a lower shell (12), and a mounting plate (13); the upper shell (11) and the lower shell (12) are interlocked and detachable; the upper shell (11) is provided with a mounting groove, the mounting plate (13) is installed on the mounting groove, and the guide wheel assembly (4) is embedded in the mounting plate (13).

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