A rope-driven joint and robot

Abstract

This utility model discloses a rope-driven joint and robot, belonging to the field of robot technology. In this utility model, the rope-driven joint integrates a torque sensor with a driven rope wheel to obtain a driven mechanism with torque detection. The driven rope wheel of the driven mechanism transmits the torque it receives to a rotating shaft fixed to the driven mechanism through the torque sensor. The torque sensor can measure the torque received by the rotating shaft, thereby realizing the continuity of joint movement. In this utility model, by integrating the driven rope wheel and the torque sensor, space is saved, the axial length of the rotating shaft is avoided, and the miniaturization of the driven joint is facilitated.

Description

Technical Field

[0001] This utility model belongs to the technical field of robots, and in particular relates to a cable-driven joint and robot. Background Technology

[0002] In recent years, with the development of robotics technology, exoskeleton robots and rehabilitation robots have been increasingly widely used in improving human motor skills and assisting in rehabilitation training. These robots typically employ a cable-driven approach, using lightweight and flexible cables to effectively support and control human joints. To ensure the safety and comfort of human-robot interaction and achieve compliant control, accurately detecting the driving torque of the cable-driven joints is particularly important.

[0003] In the field of collaborative robots, joint torque sensors are often designed to be mounted on the same axis as the motor. However, for rope-driven structures, the driven rope wheel is not on the same axis as the motor, and the driven rope wheel has a compact structure, making it difficult to integrate a torque sensor.

[0004] Therefore, how to integrate a torque sensor into the driven rope pulley to achieve accurate detection of the driving torque of the rope-driven joint has become a key problem that urgently needs to be solved. Summary of the Invention

[0005] In view of the above problems, the present invention aims to provide a rope-driven joint, which includes an innovative torque detection scheme. This scheme takes into account the compact structure of the driven rope wheel and can effectively improve the accuracy and reliability of torque detection without significantly increasing the system complexity and cost, thereby promoting the further development and application of exoskeleton robots and rehabilitation robots.

[0006] In a first aspect, the present invention discloses a rope-driven joint, comprising a driving component 1, a driven mechanism 2, and a driving rope. Drive component 1 drives driven mechanism 2 to move via drive rope; The driven mechanism 2 includes a torque sensing pulley 21 and a rotating shaft 22. The torque sensing pulley 21 is fixedly connected to the rotating shaft 22. The driving component 1 drives the torque sensing pulley 21 to move through the driving rope.

[0007] Furthermore, the torque sensing pulley 21 includes a driven pulley 211 and a torque sensor 212. One end of the torque sensor 212 is integrally connected to the driven pulley 211, and the other end is fixedly connected to the rotating shaft 22.

[0008] Furthermore, the torque sensor 212 is configured as a beam connection structure with rings, and a first ring 2121 and a second ring 2122 are provided on both sides of the torque sensor 212, and multiple connecting beams 2123 are provided between the first ring 2121 and the second ring 2122.

[0009] Furthermore, multiple connecting beams 2123 are equidistantly arranged on the ring, and each of the multiple connecting beams 2123 is equipped with a strain gauge of a torque sensor for measuring the effect of torque.

[0010] Furthermore, the first ring 2121 of the torque sensor 212 is also part of the driven pulley 211, which also includes a third ring 2124. The first ring 2121 and the third ring 2124 are connected by a recessed structure to form a recessed receiving groove for accommodating the drive rope.

[0011] Furthermore, the second ring 2122 is provided with a threaded hole, and the rotating shaft 22 is fixedly connected to the torque sensor through the threaded hole provided on the second ring 2122.

[0012] Furthermore, the rotating shaft 22 includes a large flange 221 and a small flange 222. The large flange 221 is fixedly connected to the torque sensor through a threaded hole on the second ring 2122. The small flange 222 is provided with a bearing. The small flange 222 is interference-fitted with the inner ring of the bearing. The rim of the driven pulley 211 is interference-fitted with the outer ring of the bearing.

[0013] Furthermore, the rope-driven joint also includes a support device 3, which is rotatably connected to the rotation shaft 22 of the driven mechanism 2 and is used to support the driven mechanism 2.

[0014] Furthermore, the small flange 222 is provided with threaded holes for connecting loads.

[0015] In a second aspect, this utility model discloses a robot comprising any of the cable-driven joints described in the first aspect.

[0016] This utility model discloses a rope-driven joint and a robot. In this utility model, the rope-driven joint integrates a torque sensor with a driven rope wheel to obtain a driven mechanism with torque detection. The driven rope wheel of the driven mechanism transmits the torque it receives to a rotating shaft fixed to the driven mechanism through the torque sensor. The torque sensor can measure the torque received by the rotating shaft, thereby realizing the continuity of joint movement. In this utility model, by integrating the driven rope wheel and the torque sensor, space is saved, the axial length of the rotating shaft is avoided, and the miniaturization of the driven joint is facilitated. Attached Figure Description

[0017] Figure 1 A schematic diagram of the overall structure of the rope-driven joint; Figure 2 This is a schematic diagram of the overall structure of the driven mechanism; Figure 3 This is a schematic diagram of a torque-sensing pulley structure; Figure 4 This is a schematic diagram of the torque sensor structure; Figure 5 This is a schematic diagram of the rotating shaft. Detailed Implementation

[0018] The technical solutions of the present utility model will be further clearly and completely described below with reference to the accompanying drawings of the embodiments. It should be noted that the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0019] To make the application purpose, technical solution, and advantages of this utility model clearer, the technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model.

[0020] In recent years, with the development of robotics technology, exoskeleton robots and rehabilitation robots have been increasingly widely used in improving human motor skills and assisting in rehabilitation training. These robots typically employ a cable-driven approach, using lightweight and flexible cables to effectively support and control human joints. To ensure the safety and comfort of human-robot interaction and achieve compliant control, accurately detecting the driving torque of the cable-driven joints is particularly important.

[0021] In the field of collaborative robots, joint torque sensors are often designed to be mounted on the same axis as the motor. However, for rope-driven structures, the driven rope wheel is not on the same axis as the motor, and the driven rope wheel has a compact structure, making it difficult to integrate a torque sensor.

[0022] Therefore, how to integrate a torque sensor into the driven rope pulley to achieve accurate detection of the driving torque of the rope-driven joint has become a key problem that urgently needs to be solved.

[0023] In view of the above problems, the present invention aims to provide a rope-driven joint, which includes an innovative torque detection scheme. This scheme takes into account the compact structure of the driven rope wheel and can effectively improve the accuracy and reliability of torque detection without significantly increasing the system complexity and cost, thereby promoting the further development and application of exoskeleton robots and rehabilitation robots.

[0024] like Figure 1As shown in the figure, Embodiment 1 of this utility model discloses a rope-driven joint, which includes a driving component 1, a driven mechanism 2, and a driving rope (not shown in the figure). The driving component 1 drives the driven mechanism 2 to move via the driving rope. The driving component 1 includes a driving wheel 11 and a driving motor 12. The driving wheel 11 moves under the action of the driving motor 12 and drives the driven mechanism 2 to move via the driving rope. The rope-driven joint also includes a load. The driven mechanism 2 is connected to the load and drives the load to move under the action of the driving component.

[0025] In this embodiment, the drive rope can be a tungsten wire rope, steel wire rope, or other similar rope. The purpose of the drive rope is to drive the driven mechanism through the movement of the drive wheel 11. At the same time, the drive rope must have a certain stiffness requirement so that it will not be broken by the driven mechanism or the load within a certain force range.

[0026] exist Figure 2 In the driven mechanism 2, there are torque sensing pulleys 21 and rotating shafts 22. The driving component 1 acts on the torque sensing pulleys 21 through the driving rope. The torque sensing pulleys 21 move under the action of the driving rope. The torque sensing pulleys 21 are fixedly connected to the rotating shafts 22, and the rotating shafts 22 rotate under the drive of the torque sensing pulleys 21.

[0027] like Figure 3 As shown, in this embodiment, the torque sensing pulley 21 includes a driven pulley 211 and a torque sensor 212. One end of the torque sensor 212 is integrally connected to the driven pulley 211, and the other end is fixedly connected to the rotating shaft 22. By integrally connecting the torque sensor 22 to the driven pulley 21, compared to the traditional method of coaxially mounting the torque sensor and the driven pulley, the axial dimension of the driven mechanism can be shortened. Simultaneously, the integral arrangement of the torque sensor 212 and the driven pulley 211 allows the torque sensor 212 to be closer to the object being measured, significantly improving the accuracy and reliability of the measurement. When the drive wheel 11 drives the driven pulley 211 to move, because the driven pulley 211 and the torque sensor 212 are integrally connected, the torque sensor 212 moves together with the driven pulley 211.

[0028] like Figure 4As shown, in one embodiment of this utility model, the torque sensor 212 is configured as a beam connection structure with rings. Two rings, a first ring 2121 and a second ring 2122, are arranged on both sides of the torque sensor, with multiple connecting beams 2123 in the middle. The number of connecting beams 2123 can be set as needed. To ensure measurement accuracy and convenient data processing, the multiple connecting beams are equidistantly arranged on the rings, and the strain gauges of the torque sensor are arranged on the connecting beams. The first ring 2121 of the torque sensor is also part of the driven sheave 211. The driven sheave 211 also includes a third ring 2124. The first ring 2121 and the third ring 2124 are connected by a recessed structure to form a recessed receiving groove for accommodating the drive rope. The second ring 2122 has a threaded hole, and the rotating shaft 22 is fixedly connected to the driven mechanism 2 through the threaded hole on the second ring 2122.

[0029] like Figure 5 As shown, in one embodiment of this utility model, the rotating shaft 22 includes a large flange 221 and a small flange 222. The large flange 221 is fixedly connected to the torque sensor through a threaded hole on the second ring 2122. A bearing 223 is provided on the small flange 222, and the inner ring of the small flange 222 and the bearing 223 are interference-fitted. The rim of the driven pulley 211 is interference-fitted with the outer ring of the bearing. This design ensures that the driven mechanism can drive the rotating shaft to rotate relative to the fixed shaft.

[0030] The outer side of the small flange 222 is also provided with a threaded hole. The load is fixedly connected to the threaded hole, and the rotational motion of the driven mechanism drives the movement of the load.

[0031] like Figure 1 As shown, in one embodiment of this utility model, the rope-driven joint further includes a support structure 3, which is rotatably connected to both ends of the rotating shaft 22 to support the driven mechanism 2. An angle sensor 31 is also provided at the rotatable connection between the support structure 3 and the large flange 221 to measure the rotation angle of the driven rope pulley. Rotary bearings are provided at both ends of the rotating shaft 22, and the support structure is rotatably connected to both ends of the rotating shaft through the rotary bearings.

[0032] In another embodiment of this utility model, a robot including the cable-driven joints of Embodiment 1 is disclosed, wherein there may be one or more cable-driven joints. It should be noted that the robot in this embodiment may be an exoskeleton robot or other collaborative robot; all robots employing cable-driven joints fall within this scope.

[0033] This utility model discloses a rope-driven joint and a robot. In this utility model, the rope-driven joint integrates a torque sensor with a driven rope wheel to obtain a driven mechanism with torque detection. The driven rope wheel of the driven mechanism transmits the torque it receives to a rotating shaft fixed to the driven mechanism through the torque sensor. The torque sensor can measure the torque received by the rotating shaft, thereby realizing the continuity of joint movement. In this utility model, by integrating the driven rope wheel and the torque sensor, space is saved, the axial length of the rotating shaft is avoided, and the miniaturization of the driven joint is facilitated.

Claims

1. A cable-driven joint, characterized in that, It includes a drive component (1), a driven mechanism (2), and a drive rope; The driving component (1) drives the driven mechanism (2) to move via a driving rope; The driven mechanism (2) includes a torque sensing pulley (21) and a rotating shaft (22). The torque sensing pulley (21) is fixedly connected to the rotating shaft (22). The driving component (1) drives the torque sensing pulley (21) to move through the driving rope. The torque sensing pulley (21) includes a driven pulley (211) and a torque sensor (212). The torque sensor (212) has a first ring (2121) and a second ring (2122) on both sides. The first ring (2121) of the torque sensor (212) is a part of the driven pulley (211).

2. A cable-driven joint according to claim 1, characterized in that, One end of the torque sensor (212) is integrally connected to the driven rope wheel (211), and the other end is fixedly connected to the rotating shaft (22).

3. A cable-driven joint according to claim 2, characterized in that, The torque sensor (212) is configured as a beam connection structure with a ring, and multiple connecting beams (2123) are provided between the first ring (2121) and the second ring (2122).

4. A cable-driven joint according to claim 3, characterized in that, The plurality of connecting beams (2123) are equidistantly arranged on the ring, and each of the plurality of connecting beams (2123) is provided with a strain gauge of a torque sensor for measuring the torque.

5. A cable-driven joint according to claim 4, characterized in that, The driven pulley (211) also includes a third ring (2124). The first ring (2121) and the third ring (2124) are connected by a recessed structure to form a recessed receiving groove for accommodating the drive rope.

6. A cable-driven joint according to claim 5, characterized in that, The second ring (2122) is provided with a threaded hole, and the rotating shaft (22) is fixedly connected to the torque sensor through the threaded hole provided on the second ring (2122).

7. A cable-driven joint according to claim 6, characterized in that, The rotating shaft (22) includes a large flange (221) and a small flange (222). The large flange (221) is fixedly connected to the torque sensor through a threaded hole on the second ring (2122). The small flange (222) is provided with a bearing. The small flange (222) is interference-fitted with the inner ring of the bearing, and the rim of the driven pulley (211) is interference-fitted with the outer ring of the bearing.

8. A cable-driven joint according to claim 7, characterized in that, The rope-driven joint also includes a support device (3), which is rotatably connected to the rotation shaft (22) of the driven mechanism (2) to support the driven mechanism (2).

9. A cable-driven joint according to claim 8, characterized in that, The small flange (222) is provided with threaded holes for connecting loads.

10. A robot, characterized in that, It includes at least one cable-driven joint as described in any one of claims 1-9.

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