Tendon sheath, tendon sheath system, and tendon transmission assembly

Abstract

A tendon sheath, comprising a tendon sheath main body. The tendon sheath is provided with an oil supply structure, and the tendon sheath main body is further internally provided with a lubricant passage structure. The lubricant passage structure is in communication with a hollow part of the tendon sheath, and the oil supply structure is in communication with the lubricant passage structure. Further provided are a tendon sheath system and tendon transmission assembly comprising the tendon sheath.

Description

Tendon sheath, tendon sheath system and tendon transmission components Technical Field

[0001] The present application belongs to the field of robotics, and more specifically, to tendons, tendon sheath systems, and tendon transmission components. Background Art

[0002] The manipulator of a robot usually has multiple joints and a relatively small physical space. In order to achieve independent control of each joint in a small space, tendon transmission technology is used in the prior art to drive the multiple joints of the manipulator. The drive assembly including multiple drive units is usually set in a remote area, such as inside the arm. The drive units can control the movement of the joints through tendons. One end of the tendon can be connected to the output end of the actuator, and the other end of the tendon can be connected to the rotating end of the joint. A tendon sheath can be provided on the outside of the tendon. The hollow portion of the tendon sheath is configured to allow the tendon to slide through, and at least a portion of the tendon can slide in the tendon sheath.

[0003] In the prior art, the tendon may be damaged due to friction and cutting force, thereby affecting the reliability and life of the tendon transmission.

[0004] Summary of the Invention

[0005] In order to solve the above problems, an embodiment of the present application provides a tendon, a tendon sheath system and a tendon transmission assembly.

[0006] To achieve the above-mentioned purpose, the present application provides a tendon sheath, including a tendon sheath main body, which includes a load-bearing structure; an oil supply structure is provided on the tendon sheath, and the tendon sheath main body also includes a lubricant passage structure, the lubricant passage structure is connected to the hollow part of the tendon sheath, and the oil supply structure is connected to the lubricant passage structure.

[0007] The hollow portion of the tendon sheath is configured to allow the tendon to slidably pass therethrough, and the lubricant may enter the gap between the tendon and the tendon sheath in the hollow portion through the lubricant passage structure.

[0008] According to a tendon sheath provided in an embodiment of the present application, the oil supply structure includes an oil injection interface arranged on the tendon sheath body; or, the oil supply structure includes an oil supply bag arranged on the tendon sheath body.

[0009] According to a tendon sheath provided in an embodiment of the present application, the tendon sheath body further includes a protective layer; and an oil supply structure is provided on the protective layer.

[0010] According to a tendon sheath provided by an embodiment of the present application, the protective layer and the load-bearing structure are an integral structure; or, the protective layer and the load-bearing structure are separate structures.

[0011] According to a tendon sheath provided in an embodiment of the present application, the tendon sheath body further includes an inner sheath, at least a portion of the inner sheath is located on the inner side of the tendon sheath body; the lubricant passage structure includes a penetration hole on the inner sheath.

[0012] According to a tendon sheath provided by an embodiment of the present application, the load-bearing structure and the inner sheath are an integral structure; or, the load-bearing structure and the inner sheath are separate structures.

[0013] According to a tendon sheath provided in an embodiment of the present application, the inner sheath includes a self-lubricating tube, the load-bearing structure and the inner sheath are an integrated structure; and the oil supply structure is arranged on the load-bearing structure.

[0014] According to an embodiment of the present application, the tendon sheath body further comprises a protective layer, and the oil supply structure is disposed on the protective layer. The protective layer and the load-bearing structure are integrally formed; alternatively, the protective layer and the load-bearing structure are separate structures; further alternatively, the protective layer, the load-bearing structure, and the inner sheath can be integrally formed.

[0015] According to a tendon sheath provided in an embodiment of the present application, the load-bearing structure includes a spring tube, a braided structure, or a winding structure.

[0016] According to a tendon sheath provided in an embodiment of the present application, the inner sheath is made of a polymer material; or, the protective layer is made of a polymer material.

[0017] According to a tendon sheath provided in an embodiment of the present application, the tendon sheath also includes a mounting portion, which is configured to be used to mount the tendon sheath; the mounting portion is located on the tendon sheath body, or the mounting portion includes a mounting element, which is fixedly connected to the tendon sheath body.

[0018] According to an embodiment of the present application, a tendon sheath is provided with a sealing structure, which is configured to seal lubricant between the tendon and the tendon sheath. The sealing structure includes a sealing element and a positioning portion, wherein the positioning portion is configured to install the sealing element.

[0019] According to a tendon sheath provided in an embodiment of the present application,

[0020] The tendon sheath comprises at least one limiting structure provided on the tendon sheath body, wherein the limiting structure is configured to allow the tendon sheath body to slidably pass therethrough; and / or,

[0021] The tendon sheath includes at least one positioning structure disposed on the tendon sheath body; the positioning structure is configured to fix a portion of the tendon sheath.

[0022] The present application also provides a tendon sheath system, comprising an oil supply device and the tendon sheath as described above; the oil supply device is connected to the oil supply structure of the tendon sheath. Specifically, the oil supply device is connected to the oil injection port of the tendon sheath.

[0023] The present application also provides a tendon transmission assembly, comprising a tendon and the tendon sheath as described above; the tendon can slide through the tendon sheath; and there is a lubricant between the tendon and the tendon sheath.

[0024] According to a tendon transmission assembly provided in an embodiment of the present application, the tendon includes a tendon core body and a self-lubricating layer.

[0025] The beneficial effects of this application are:

[0026] The tendon sheath of the application is provided with an oil supply structure. The tendon sheath body also includes a lubricant passage structure, which is connected to the hollow portion of the tendon sheath. The oil supply structure is also connected to the lubricant passage structure. Lubricant can enter the interior of the tendon sheath from the oil supply structure, and after passing through the lubricant passage structure, it can enter the gap between the tendon and the tendon sheath in the hollow portion. This facilitates the formation of a lubricant film layer between the tendon and the tendon sheath, thereby preventing damage to the tendon and the tendon sheath caused by friction between the tendon and the tendon sheath, and is conducive to improving the reliability and lifespan of the tendon and the tendon sheath. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] FIG1 is a schematic structural diagram of a first embodiment of a tendon sheath provided in an embodiment of the present application;

[0029] FIG2 is a schematic structural diagram of a second embodiment of a tendon sheath provided in an embodiment of the present application;

[0030] FIG3 is a schematic structural diagram of a third embodiment of a tendon sheath provided in an embodiment of the present application;

[0031] FIG4 is a schematic structural diagram of a fourth embodiment of a tendon sheath provided in an embodiment of the present application;

[0032] FIG5 is a schematic structural diagram of a fifth embodiment of a tendon sheath provided in an embodiment of the present application;

[0033] FIG6 is a schematic structural diagram of a first embodiment of a tendon transmission assembly provided in an embodiment of the present application;

[0034] FIG7 is a schematic structural diagram of a second embodiment of a tendon transmission assembly provided in an embodiment of the present application;

[0035] FIG8 is a schematic structural diagram of a first embodiment of a tendon provided in an embodiment of the present application;

[0036] FIG9 is a schematic structural diagram of a second embodiment of a tendon provided in an embodiment of the present application;

[0037] Figure 10 is a structural schematic diagram of the third embodiment of the tendon provided in the embodiments of the present application.

[0038] Among them, the figure marks are: tendon 10, tendon core body 11, self-lubricating layer 12, first anti-wear layer 13, intermediate core material 111, multi-strand braided wire 112, second anti-wear layer 113, load-bearing structure 21, inner sheath 22, protective layer 23, mounting part 24, sealing element 25, positioning part 26, oil filling interface 27, oil supply device 30, penetration hole 201. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0040] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0041] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0043] Please refer to Figures 1 to 10, and the tendon sheath, tendon sheath system and tendon transmission assembly provided in the embodiments of the present application will now be described.

[0044] As shown in Figures 1 to 5, an embodiment of the present application provides a tendon sheath.

[0045] In the application embodiment, the tendon sheath includes a tendon sheath body.

[0046] The tendon sheath is provided with an oil supply structure. The tendon sheath has a hollow portion configured to allow the tendon to slide axially within the tendon sheath. The tendon sheath body also includes a lubricant passage structure, which is in communication with the hollow portion of the tendon sheath, and the oil supply structure is in communication with the lubricant passage structure.

[0047] The lubricant can enter the tendon sheath from the oil supply structure, and then enter the hollow part after passing through the lubricant passage structure. This is conducive to forming a lubricant film layer between the tendon and the tendon sheath, thereby avoiding damage to the tendon and the tendon sheath caused by friction between the tendon and the tendon, and is conducive to improving the reliability and life of the tendon and the tendon sheath.

[0048] The oil supply structure includes an oil injection port 27 disposed on the tendon sheath body; the oil injection port 27 is connected to the permeable passage within the tendon sheath, and lubricant can enter the tendon sheath through the oil injection port 27. Alternatively, the oil supply structure may include an oil supply bag (not shown) disposed on the tendon sheath body. The oil supply bag may be a bulge formed on the tendon sheath, and the lubricant is contained within the oil supply bag.

[0049] The tendon sheath body includes a load-bearing structure 21. The load-bearing structure 21 is used to constrain the direction of the tendon and provide protection for the tendon. The load-bearing structure 21 can withstand external forces to prevent the tendon sheath from being worn or cut by external forces.

[0050] In one embodiment, as shown in Figures 1 and 2, the tendon sheath body further includes a protective layer 23, at least a portion of which is located outside the tendon sheath body. The protective layer 23 can provide protection for the load-bearing structure 21 when the tendon sheath is subjected to external forces. The oil supply structure can be disposed on the protective layer 23 on the surface of the tendon sheath.

[0051] As a specific embodiment of the protective layer 23, the protective layer 23 may include a protective film layer. The protective film layer may be formed on the load-bearing structure 21. The protective film layer may be directly formed on the load-bearing structure 21 through processes such as nano-spraying, coating, plating, sedimentation, and overmolding. Alternatively, the protective layer 23 may include a protective tube, which may be a flexible hose with good wear resistance.

[0052] In one embodiment, the protective layer 23 and the load-bearing structure 21 may be separate structures; for example, the protective layer 23 includes a protective tube, and the protective tube as the protective layer 23 is sheathed over the load-bearing structure 21. Alternatively, in one embodiment, the protective layer 23 and the load-bearing structure 21 may be an integral structure; for example, when the protective layer 23 includes a protective tube, the protective tube as the protective layer 23 and the braided structure as the load-bearing structure 21 may be formed into an integral structure through a molding process. Specifically, the protective tube and the load-bearing structure may be formed into an integral structure through processes such as mold molding, printing molding, glue pouring, and gluing.

[0053] The load-bearing structure 21 has pores or gaps, and the lubricant passage structure includes the pores or gaps of the load-bearing structure 21, so that lubricant can pass through the load-bearing structure 21. The oil supply structure on the protective layer 23 is connected to the lubricant passage structure inside the tendon sheath, so that lubricant can enter the tendon sheath, pass through the load-bearing structure 21, and then enter the gap between the tendon and the tendon sheath in the hollow portion.

[0054] The oil supply structure may include an oil injection port 27 disposed on the protective layer 23. The oil injection port 27 may be an opening formed on the protective layer 23, as shown in FIG1 . In another embodiment, the oil injection port 27 may be protruding from the protective layer 23, as shown in FIG2 . It is understood that the specific shape of the oil injection port 27 is not limited. Alternatively, the oil supply structure may include an oil supply bag disposed on the protective layer 23.

[0055] In one embodiment, as an optional solution, as shown in FIG4 , the tendon sheath body of the present application further includes an inner sheath 22 , at least a portion of which is located inside the tendon sheath body. The lubricant passage structure includes a penetration hole 201 provided on the inner sheath 22 .

[0056] When the load-bearing structure 21 is in direct contact with the tendon, the friction between the tendon and the load-bearing structure 21 is large, and the tendon or tendon sheath is easily damaged. By providing the inner sheath 22, the tendon can slide in contact with the inner sheath 22 when sliding within the tendon sheath, which can reduce friction and heat generation between the tendon and the tendon sheath, thereby improving the reliability and lifespan of the tendon and tendon sheath.

[0057] The load-bearing structure 21 and the inner sheath 22 are an integral structure; or, the load-bearing structure 21 and the inner sheath 22 are separate structures.

[0058] When the tendon sheath body also includes an inner sheath 22 but does not have a protective layer 23, preferably, the load-bearing structure 21 and the inner sheath 22 are an integral structure, and the oil supply structure can be provided on the load-bearing structure 21. The lubricant passage structure includes pores of the load-bearing structure 21 and penetration holes 201 provided on the inner sheath 22. As shown in Figure 3, the inner sheath 22 may include a self-lubricating tube, and the self-lubricating tube as the inner sheath 22 and the braided structure as the load-bearing structure 21 are formed into an integral structure through a molding process, and the oil supply structure can be provided on the integral structure of the load-bearing structure 21 and the inner sheath 22. Specifically, the inner sheath 22 and the load-bearing structure 21 can be formed into an integral structure through processes such as mold molding, printing molding, glue pouring, and gluing. In the mold molding and glue pouring processes, the braided structure can be prepared in advance.

[0059] In one embodiment, when the tendon sheath body includes both a protective layer 23 and an inner sheath 22, the oil supply structure may be provided on the protective layer 23. In this specific embodiment, the load-bearing structure 21 and the inner sheath 22 may be separate structures; the self-lubricating tube serving as the inner sheath 22 may be located on the inner side of the load-bearing structure 21, and the load-bearing structure 21 and the self-lubricating tube may be bound together at the end positions. Alternatively, the load-bearing structure 21 and the inner sheath 22 may be an integral structure. The protective layer 23 and the load-bearing structure 21 may be an integral structure; alternatively, the protective layer 23 and the load-bearing structure 21 may be separate structures.

[0060] A accommodating cavity is formed between the protective layer 23 of the tendon sheath body and the inner sheath 22, and the lubricant can enter the tendon sheath through the oil filling interface 27 on the protective layer 23 and enter the accommodating cavity. The lubricant passage structure includes the pores of the load-bearing structure 21 and the penetration hole 201 provided on the inner sheath 22. Furthermore, the lubricant in the accommodating cavity can pass through the load-bearing structure 21 and then penetrate into the gap between the tendon and the tendon sheath through the penetration hole 201 on the inner sheath 22. In this embodiment, the inner sheath 22 may include a self-lubricating film layer, and the self-lubricating film layer may be formed on the load-bearing structure 21. For example, the self-lubricating film layer may be formed on a spring tube. The self-lubricating film layer may be directly formed on the load-bearing structure 21 through processes such as nano-spraying, coating, plating, sedimentation, and plastic coating. Alternatively, the inner sheath 22 includes a self-lubricating tube. The self-lubricating tube may be formed of a self-lubricating material, and a penetration hole 201 is provided on the self-lubricating tube. The load-bearing structure 21 and the self-lubricating tube serving as the inner sheath 22 may be an integral structure, or the load-bearing structure 21 and the self-lubricating tube serving as the inner sheath 22 may be separate structures.

[0061] Furthermore, the protective layer 23, the load-bearing structure 21, and the inner sheath 22 can also be an integrated structure. For example, when the inner sheath 22 includes a self-lubricating tube, the load-bearing structure 21 and the self-lubricating tube can be formed into an integrated structure through a molding process. In this specific embodiment, the protective layer 23 can be a protective film layer; alternatively, the protective layer 23 can be a protective tube, and the protective tube and the self-lubricating tube are essentially a single tube, that is, a single tube serving as both the protective tube and the self-lubricating tube, with the load-bearing structure 21 formed within the tube through a molding process.

[0062] As a specific implementation scheme of the load-bearing structure 21, in one embodiment, as shown in Figures 1 and 2, the load-bearing structure 21 may include a spring tube, and the spring tube has good anti-extrusion performance. Alternatively, in one embodiment, as shown in Figure 3, the load-bearing structure 21 may also include a braided structure. The braided structure may be a metal wire braided tube, a fiber braided structure, or a mixed braided structure of metal wire and fiber. Weaving materials such as metal wire and / or fiber to form the load-bearing structure 21 is conducive to the load-bearing structure 21 being able to be made into any shape and cross-sectional shape, so that the tendon sheath can form a non-uniform shape. Therefore, it can be understood that the overall shape of the tendon sheath is not limited to the shape shown in Figures 1 to 7. The fiber material of the fiber braiding structure should be selected so that the load-bearing structure 21 can avoid being worn or cut by external force. The fibers of the fiber braiding structure may include metal fibers, non-metallic fibers (such as modified polymer fibers) and other materials with good tensile strength. The polymer fiber may be a single component or a composite component polymer material. The polymer material of the composite component is modified by adding some components and generally has better tensile strength. It is understandable that the fiber material of the fiber braiding structure is not limited to this. The braiding structure can be a staggered braiding, or a transverse braiding perpendicular to the tendon sheath axis or at a certain angle, or other braiding methods.

[0063] In addition, as an alternative to the load-bearing structure 21, in one embodiment, the load-bearing structure 21 may include a winding structure located on the self-lubricating tube, and the winding structure may be tightly wound around the self-lubricating tube. The winding wire of the winding structure may be made of a material with good tensile strength. The winding structure and the inner sheath may be glued together. Alternatively, in another embodiment, the winding structure serving as the load-bearing structure 21 and the self-lubricating tube serving as the inner sheath 22 may be formed into an integral structure through a molding process. Specifically, the inner sheath 22 and the load-bearing structure 21 may be formed into an integral structure through mold molding, printing molding, glue pouring, gluing and other processes. In the mold molding and glue pouring processes, the winding structure may be prepared in advance.

[0064] The inner sheath 22 can be a self-lubricating tendon sheath, which plays a self-lubricating role on the tendon sheath; the inner sheath 22 can also be an anti-wear tendon sheath, which plays an anti-wear role on the tendon sheath.

[0065] The inner sheath 22 is preferably a polymer material. The polymer material may include traditional polymer materials, ultra-high molecular weight materials, polymer materials, polymer modified materials, etc. The material of the inner sheath 22 can be a self-lubricating material with a lower friction coefficient and better self-lubricating performance, or a wear-resistant material. For example, the inner sheath 22 may include a fluorine-containing material; preferably, the fluorine-containing material may be a fluoride or a fluorine-containing polymer. The inner sheath 22 may also be a material with better self-lubricating performance and also with wear-resistant performance. The material of the inner sheath 22 may be a polymer material of a single component or a composite component. For example, the material of the inner sheath 22 may include any one or several of fluorine-containing material, silicone resin (siloxane), modified silicone resin, polyurethane, modified polyurethane, and fluorinated modified silicone resin. It is understandable that the material of the inner sheath 22 is not limited thereto.

[0066] The material of the protective layer 23 can be a polymer material. The polymer material can include traditional polymer materials, ultra-high molecular weight materials, polymer materials, polymer modified materials, etc. For example, the material of the protective layer 23 can include any one or more of fluorine-containing materials, silicone resin (also called siloxane), modified silicone resin, polyurethane, modified polyurethane, and fluorinated modified silicone resin. The fluorine-containing material can be a fluoride or a fluorine-containing polymer. It is understood that the material of the protective layer 23 is not limited to this.

[0067] The protective layer 23 and the inner sheath 22 may be made of the same material; or, the protective layer 23 and the inner sheath 22 may be made of different materials.

[0068] In one embodiment, as shown in FIG. 5 , the tendon sheath further comprises a mounting portion 24 , and the mounting portion 24 is configured to be used for mounting the tendon sheath; for example, the mounting portion 24 may be fixedly connected to an external structure.

[0069] In one embodiment, the mounting portion 24 is located on the tendon sheath body; for example, the mounting portion 24 may be formed on the protective layer 23. Alternatively, in another embodiment, the mounting portion 24 includes a mounting element, and the mounting element is fixedly connected to the tendon sheath body. For example, the mounting element is fixed to the tendon sheath body. The mounting element has a neck, and the mounting element is fixed to the tendon sheath body via the neck. The mounting portion 24 can be implemented by means of a bayonet, a mounting slot, a fastener, adhesive, felt, etc.

[0070] In one embodiment, as shown in Figure 5 , a sealing structure is provided on the tendon sheath, wherein the sealing structure is configured to seal the lubricant between the tendon and the tendon sheath. The sealing structure may be provided at at least one end of the tendon sheath.

[0071] The sealing structure may include a sealing element 25 and a positioning portion 26, wherein the positioning portion 26 is configured to be used for mounting the sealing element 25. Preferably, the shape of the positioning portion 26 may be adapted to the shape of the sealing element 25.

[0072] When the mounting portion 24 includes a mounting element, the positioning portion 26 can be formed on the mounting element. For example, the mounting element has a side wall that can wrap at least a portion of the end surface of the tendon sheath body, and the positioning portion 26 is formed on the side wall.

[0073] Alternatively, the positioning portion 26 is fixedly connected to the mounting element. For example, the positioning portion 26 includes a positioning element, and the positioning element is fixedly connected to the mounting element.

[0074] As shown in Figures 6 and 7, an embodiment of the present application also provides a tendon sheath system. The tendon sheath system includes an oil supply device 30 and the tendon sheath as described above. The oil supply device 30 is connected to the oil supply structure of the tendon sheath. In a specific embodiment, the oil supply device 30 can be connected to the oil injection interface 27 of multiple tendon sheaths, and the oil supply device 30 can inject lubricant into multiple tendon sheaths respectively through pipelines. The oil supply device 30 can use pressure to allow lubricating oil to enter the tendon sheath. Preferably, the oil supply device 30 can keep the amount of lubricant in the tendon sheath within a reasonable range. The oil supply device 30 includes an oil storage device, which is connected to the oil injection interface 27 of at least one tendon sheath.

[0075] As shown in FIG6 and FIG7, an embodiment of the present application further provides a tendon transmission assembly, comprising a tendon 10 and the tendon sheath as described above; the tendon 10 can slide through the tendon sheath; and there is a lubricant between the tendon 10 and the tendon sheath.

[0076] The tendon in the embodiment of the present application can adopt the tendon of the existing technology.

[0077] Alternatively, embodiments of the present application also provide an improved tendon.

[0078] Please refer to Figures 8 to 10, and the tendon provided in the embodiment of the present application will now be described.

[0079] As shown in Figure 8, the tendon 10 includes a tendon core 11 and a self-lubricating layer 12. The self-lubricating layer 12 can be formed from a self-lubricating material. The self-lubricating layer 12 protects the tendon core 11, reduces friction and heat generation between the tendon and the tendon sheath, and helps improve the reliability and lifespan of the tendon.

[0080] In one embodiment, the self-lubricating layer 12 may include a film layer formed on the tendon 10, and the film layer may be directly formed on the tendon core body 11 by processes such as nano-spraying, coating, plating, sedimentation, and plastic wrapping.

[0081] In one embodiment, the self-lubricating layer 12 may include a fiber braided layer.

[0082] Alternatively, in one embodiment, the self-lubricating layer 12 includes a sleeve formed of a self-lubricating material, and the sleeve is wrapped around the tendon core body 11.

[0083] In one embodiment, the surface of the sleeve is smooth and the sleeve is a flexible hose.

[0084] In one embodiment, the sleeve is relatively fixed on the tendon core body 11. The sleeve will not slide on the tendon core body 11. When the tendon moves in the tendon sheath, the tendon core body 11 and the sleeve move synchronously.

[0085] It is understood that the self-lubricating layer 12 can be made of a variety of materials. Preferably, the self-lubricating layer 12 can be made of a polymer material. The polymer material can include traditional polymer materials, ultra-high molecular weight materials, high molecular polymer materials, polymer-modified materials, etc. For example, the self-lubricating material can include any one or more of fluorine-containing materials, silicone resins, modified silicone resins, polyurethanes, modified polyurethanes, and fluorinated modified silicone resins. It is understood that the types of self-lubricating materials are not limited to these.

[0086] When the tendon is bent, friction may occur between the tendon core body 11 and the self-lubricating layer 12. In order to meet the stringent requirements on the tendon under some special working conditions, further, as shown in FIG9 , a first anti-wear layer 13 is provided between the tendon core body 11 and the self-lubricating layer 12.

[0087] The first anti-wear layer 13 is formed on the surface of the tendon core body 11; or, the second anti-wear layer 113 is formed on the inner surface of the self-lubricating layer 12; or, the first anti-wear layer 13 is formed on the surface of the tendon core body 11 and the inner surface of the self-lubricating layer 12. The first anti-wear layer 13 may include any one of a nano-sprayed layer, a coating layer, a plating layer, and a sedimentation layer. Those skilled in the art will appreciate that the material of the first anti-wear layer 13 may be a variety of materials. For example, the material of the first anti-wear layer 13 may include any one or more of fluorine-containing materials, silicone resins, modified silicone resins, polyurethanes, modified polyurethanes, and fluorinated modified silicone resins.

[0088] The tendon core body 11 is made of a tensile-resistant material so that the tendon is not stretched during operation. In one embodiment, the tendon core body 11 can be made of a metal wire or a polymer material wire.

[0089] The tendon core body 11 includes any one of the following:

[0090] In a specific embodiment, the tendon core body 11 includes an intermediate core material 111 .

[0091] In a specific embodiment, the tendon core body 11 includes multiple braided wires 112. The tendon core body 11 is formed by multiple braided wires 112. The multiple braided wires 112 can be formed of the same material, or the multiple braided wires 112 can be formed of different materials. Preferably, the braided wires 112 are formed of a polymer material.

[0092] In a specific embodiment, as shown in FIG. 10 , the tendon core body 11 includes a middle core material 111 and a plurality of braided wires 112 wound around the middle core material 111 .

[0093] When the tendon core body 11 includes an intermediate core material 111 and a plurality of braided wires 112 wound around the intermediate core material 111, internal friction exists between the intermediate core material 111 and the plurality of braided wires 112 wound around the intermediate core material 111. Furthermore, the tendon core body 11 includes a second anti-wear layer 113 located between the intermediate core material 111 and the plurality of braided wires 112.

[0094] The second anti-wear layer 113 can be formed on the surface of the intermediate core material 111, and / or the second anti-wear layer 113 can be formed on the surface of the multi-strand braided wire 112. The second anti-wear layer 113 may include any one of a nano-sprayed layer, a coating layer, a plating layer, and a sedimentation layer. Those skilled in the art will appreciate that the material of the second anti-wear layer 113 can be a variety of materials. For example, the material of the second anti-wear layer 113 includes any one or more of a fluorine-containing material, a silicone resin, a modified silicone resin, a polyurethane, a modified polyurethane, and a fluorinated modified silicone resin. The material of the second anti-wear layer 113 is not limited to this.

[0095] In one embodiment, at least one end of the tendon core body 11 is exposed from the sleeve. This facilitates secure connection of the tendon end to other components. It also facilitates precise control of the tendon length when the tendon is wound around a capstan or pulley. Preferably, both ends of the tendon core body 11 are exposed from the sleeve.

[0096] In order to make the position of the sleeve on the tendon core body 11 relatively fixed and avoid relative sliding between the self-lubricating layer 12 and the tendon core body 11 during tendon transmission, in one embodiment, the sleeve is a heat shrinkable tube, which is sleeved on the tendon core body 11. Due to the heat shrinkage effect, the position of the sleeve and the tendon core body 11 are relatively fixed after heat shrinkage.

[0097] In another embodiment, the two ends of the sleeve can be fixed to the tendon core body 11 through a fixing structure (not shown in the figure); or, the two ends of the sleeve can be fixed to the tendon core body 11 by bonding.

[0098] The beneficial effects of this application are:

[0099] The application discloses an oil supply structure provided on the tendon sheath. The tendon sheath body also includes a lubricant passage structure, which is connected to the hollow portion of the tendon sheath. The oil supply structure is also connected to the lubricant passage structure. Lubricant can enter the tendon sheath from the oil supply structure and, after passing through the lubricant passage structure, enter the gap between the tendon and the tendon sheath in the hollow portion. This facilitates the formation of a lubricant film between the tendon and the tendon sheath, thereby preventing damage to the tendon and tendon sheath caused by friction between the tendon and the tendon, and improving the reliability and lifespan of the tendon and tendon sheath.

[0100] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A tendon sheath, comprising a tendon sheath body; characterized in that: The tendon sheath is provided with an oil supply structure, and the tendon sheath body also includes a lubricant passage structure, the lubricant passage structure is communicated with the hollow part of the tendon sheath, and the oil supply structure is communicated with the lubricant passage structure.

2. A tendon sheath as claimed in claim 1, characterized in that: The oil supply structure includes an oil injection interface arranged on the tendon sheath body; or, the oil supply structure includes an oil supply bag arranged on the tendon sheath body.

3. A tendon sheath as claimed in claim 1, characterized in that: The tendon sheath body includes a load-bearing structure.

4. A tendon sheath as claimed in claim 3, characterized in that: The tendon sheath body also includes a protective layer; an oil supply structure is arranged on the protective layer.

5. A tendon sheath as claimed in claim 4, characterized in that: The protective layer and the load-bearing structure are an integrated structure; or, the protective layer and the load-bearing structure are separate structures.

6. A tendon sheath as claimed in claim 3, characterized in that: The tendon sheath body also includes an inner sheath, at least a portion of which is located on the inner side of the tendon sheath body; the lubricant passage structure includes a penetration hole on the inner sheath.

7. A tendon sheath as claimed in claim 6, characterized in that: The load-bearing structure and the inner sheath are an integrated structure; or, the load-bearing structure and the inner sheath are separate structures.

8. A tendon sheath as claimed in claim 6, characterized in that: The inner sheath comprises a self-lubricating tube, the load-bearing structure and the inner sheath are an integrated structure; and the oil supply structure is arranged on the load-bearing structure.

9. A tendon sheath as claimed in claim 6, characterized in that: The tendon sheath body also includes a protective layer, and the oil supply structure is arranged on the protective layer.

10. A tendon sheath as claimed in claim 3, characterized in that: The load-bearing structure includes a spring tube, a braided structure, or a winding structure.

11. A tendon sheath according to claim 4 or 6, characterized in that: The inner sheath is made of a polymer material; or the protective layer is made of a polymer material.

12. A tendon sheath according to claim 1, characterized in that: The tendon sheath also includes a mounting portion, which is configured to be used for mounting the tendon sheath; the mounting portion is located on the tendon sheath body, or the mounting portion includes a mounting element, and the mounting element is fixedly connected to the tendon sheath body.

13. A tendon sheath according to claim 1, characterized in that: A sealing structure is provided on the tendon sheath, and the sealing structure is configured to seal the lubricant between the tendon and the tendon sheath.

14. A tendon sheath system, characterized in that: It comprises an oil supply device and a tendon sheath as described in any one of claims 1 to 13; the oil supply device is connected to the oil supply structure of the tendon sheath.

15. A tendon transmission assembly, characterized in that: It comprises a tendon and a tendon sheath as described in any one of claims 1-13; the tendon can slide through the tendon sheath.

16. A tendon transmission assembly according to claim 15, characterized in that: There is a lubricant between the tendon and the tendon sheath, and the tendon includes a tendon core body and a self-lubricating layer.

17. A tendon transmission assembly of a robot, the robot comprising a plurality of joints, a driving unit controlling the movement of the joints through tendons, characterized in that: It also includes a tendon sheath as described in any one of claims 1-13, and the tendon can slide through the tendon sheath.

18. A tendon transmission assembly according to claim 17, characterized in that: There is a lubricant between the tendon and the tendon sheath; the tendon includes a tendon core body and a self-lubricating layer.

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