Force-bearing component of tendon-driven robot, metacarpal segment and robot

Abstract

Disclosed in the present application is a force-bearing component of a tendon-driven robot. The force-bearing component comprises a force-bearing body and a tendon sheath constraint structure arranged on the force-bearing body, wherein the tendon sheath constraint structure is configured to allow a tendon sheath to slide therethrough. In the present application, the tendon sheath constraint structure is arranged on the force-bearing component for constraining the tendon sheath which passes through the force-bearing component, such that the position of the tendon sheath on the force-bearing component can be constrained.

Description

Load-bearing components, metacarpophalangeal joints and robots of tendon-driven robots Technical Field

[0001] The present application belongs to the technical field of tendon-driven robots, and more specifically, to the load-bearing components, metacarpophalangeal joints, and robots of tendon-driven robots. Background Art

[0002] Robots typically have multiple cascaded joints. To achieve independent control of each joint in a confined space, tendon transmission technology is currently used to drive the multiple joints of a robotic arm. The tendon transmission assembly includes a tendon sheath on the outside of the tendon, which constrains the tendon's path. One end of the tendon sheath is fixed to a joint, while the other end is typically secured to the robot's drive components. Multi-degree-of-freedom robots typically have numerous tendons and tendon sheaths.

[0003] The robot also has load-bearing components. Taking a manipulator as an example, the manipulator includes a hand module. The hand module includes multiple joints and multiple load-bearing components. The hand module may include a palm base, a palm module, and multiple fingers. The palm module may include a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint arranged in sequence; or the palm unit may include a metacarpophalangeal joint and a metacarpophalangeal joint arranged in sequence. The fingers include finger knuckles and finger joints. The load-bearing components of the manipulator include the metacarpophalangeal joint and the finger knuckles.

[0004] How to design the load-bearing component and how to consider the relationship between the tendon sheath and the load-bearing component when the tendon sheath passes through the load-bearing component are issues that those skilled in the art need to consider.

[0005] Summary of the Invention

[0006] In order to solve the technical problems of the above-mentioned prior art, the embodiments of the present application provide a load-bearing component, a metacarpophalangeal joint and a robot of a tendon-driven robot.

[0007] To achieve the above-mentioned purpose, the present application provides a load-bearing component of a tendon-transmitted robot, wherein the load-bearing component includes a load-bearing body and a tendon sheath constraint structure arranged on the load-bearing body, and the tendon sheath constraint structure is configured to allow the tendon sheath to pass slidably therethrough; the tendon sheath constraint structure includes a tendon sheath constraint portion.

[0008] In one embodiment of the present application, the tendon sheath constraint structure includes two tendon sheath constraint parts, and a limiting part between the two tendon sheath constraint parts, the limiting part is configured to limit the top space of the tendon sheath in the tendon sheath constraint structure, and the limiting part forms an accommodating space at the load-bearing component.

[0009] In one embodiment of the present application, the tendon sheath constraint structure further includes an opening located on the side.

[0010] In one embodiment of the present application, the tendon sheath restraint portion includes at least one of a restraint groove, a restraint hole, a channel, and an elastic structure wrapped around or wrapped around the load-bearing component.

[0011] In one embodiment of the present application, the tendon sheath constraint structure is a single-layer structure, and the tendon sheath constraint structure includes a plurality of tendon sheath constraint positions arranged in parallel.

[0012] In one embodiment of the present application, a transition portion is provided at one end of the tendon sheath restraint portion; the transition portion includes a trumpet-shaped structure located at the end of the tendon sheath restraint portion; the end height of the transition portion is adapted to the height of the tendon sheath restraint structure of the metacarpophalangeal joint.

[0013] In one embodiment of the present application, the two tendon sheath constraint structures are detachably arranged on both sides of the load-bearing body.

[0014] In one embodiment of the present application, a receiving portion for the actuator is further provided on the load-bearing body, and the receiving portion is an enclosing structure.

[0015] The present application also provides a metacarpophalangeal joint, comprising the load-bearing component of the tendon-driven robot as described above.

[0016] The present application also provides a robot comprising a plurality of joints; and also comprising the load-bearing components of the tendon-driven robot as described above.

[0017] The beneficial effects of this application are:

[0018] The present application provides a tendon sheath constraint structure on the load-bearing component, and the tendon sheath constraint structure is configured to allow the tendon sheath to slide through it, which can constrain the tendon sheath passing through the load-bearing component and constrain the position of the tendon sheath when passing through the load-bearing component. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] FIG1 is a schematic structural diagram of a load-bearing component of a tendon-driven robot provided in Example 1 of the present application;

[0021] FIG2 is a cross-sectional view of a load-bearing component of a tendon-driven robot provided in Example 1 of the present application;

[0022] Figure 3 is a structural schematic diagram of the tendon sheath constraint structure of the load-bearing component of the first tendon transmission robot provided in Example 1 of the present application.

[0023] Among them, the respective reference numerals in the figure are: load-bearing body 10, receiving portion 11, tendon sheath constraint structure 20, tendon sheath constraint portion 21, limiting portion 22, opening 23, accommodating space 24, tendon sheath constraint position 202, transition portion 201. DETAILED DESCRIPTION

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] The load-bearing components, metacarpophalangeal joints and robot of the tendon transmission robot of the present application are described below.

[0029] Example 1

[0030] Please refer to Figures 1 to 3. An embodiment of the present application provides a load-bearing component of a tendon-driven robot.

[0031] Taking a robotic hand as an example, the robotic hand includes a hand module. The hand module includes multiple joints and multiple load-bearing components. The hand module may include a palm base, a palm module, and multiple fingers. The palm module may include a carpometacarpal joint, a metacarpophalangeal joint, and a metacarpophalangeal joint arranged in sequence; alternatively, the palm unit may include a metacarpophalangeal joint and a metacarpophalangeal joint arranged in sequence. The fingers include finger knuckles and finger joints. The load-bearing components of the robotic hand include the metacarpophalangeal joint and the finger knuckles. When a joint serves as a driven joint, the tendon sheath disposed outside the tendon driving the joint is hereinafter referred to as the tendon sheath of the joint. For example, the tendon sheath corresponding to the metacarpophalangeal joint passes through the metacarpophalangeal joint, and the tendon sheath corresponding to the finger joint passes through the metacarpophalangeal joint and the metacarpophalangeal joint in sequence. Multiple tendon sheaths are typically provided at the metacarpophalangeal joint of the corresponding finger. It is understood that the load-bearing components of a robot include, but are not limited to, the metacarpophalangeal joint and the finger knuckles of the robotic hand. The following describes the load-bearing components using a robotic hand as an example.

[0032] The load-bearing component includes a load-bearing body (10) and a tendon sheath constraint structure (20) provided on the load-bearing body (10). When the tendon sheath passes through the load-bearing component, the tendon sheath constraint structure (20) is configured to allow the tendon sheath to slidably pass therein. The tendon sheath constraint structure (20) can constrain the position of the tendon sheath when passing through the load-bearing component.

[0033] Regarding the first embodiment of the tendon sheath constraint structure (20):

[0034] The tendon sheath restraint structure (20) comprises a tendon sheath restraint portion (21), wherein the tendon sheath restraint portion (21) is configured to allow the tendon sheath to slidably pass therethrough.

[0035] The tendon sheath restraint portion (21) may be a separate part, detachably provided on the load-bearing body (10); or, the tendon sheath restraint portion (21) may also be directly formed on the load-bearing body (10).

[0036] The tendon sheath restraint portion (21) may include at least one of a restraint groove, a restraint hole, and a channel.

[0037] In a specific embodiment, the tendon sheath restraint portion (21) may include a restraint groove, and when the tendon sheath passes through the load-bearing component, a portion of the tendon sheath is located in the restraint groove. For example, a groove may be provided on the surface of the finger joint as the load-bearing component along the arrangement direction of the tendon sheath as the restraint groove, and the restraint groove may be provided on the load-bearing body in a protruding or recessed manner, so that the tendon sheath does not protrude from the surface of the load-bearing component, and the tendon sheath can slide through it.

[0038] In a specific embodiment, the tendon sheath restraint (21) includes a restraint hole, and the tendon sheath passes through the restraint hole.

[0039] In a specific embodiment, as shown in FIG2 , the tendon sheath restraint (21) may include a channel. For example, a channel may be provided on the metacarpophalangeal joint so that the tendon sheath can pass through the channel. The cross-sectional shape of the channel is not limited, and the interior may be subjected to a smooth transition treatment.

[0040] The tendon sheath restraint structure (20) can be a single-layer structure or a multi-layer structure.

[0041] In one embodiment, the tendon sheath constraint structure (20) is a multi-layer structure. For example, when multiple tendon sheaths pass through, multiple constraint grooves, constraint holes, or channels are arranged in a layered structure to facilitate the passage of different tendon sheaths.

[0042] In one embodiment, the tendon sheath constraint structure (20) is a single-layer structure, and a plurality of the tendon sheath constraint parts (21) (such as constraint grooves or constraint holes) are arranged in parallel to form a structure similar to a multi-slide; for example, a plurality of strip-shaped constraint grooves arranged in parallel are provided on the finger knuckles as tendon sheath constraint positions (202), and the plurality of tendon sheath constraint positions (202) arranged in parallel can isolate the plurality of tendon sheaths to a certain extent, thereby preventing the plurality of tendon sheaths from becoming entangled or intertwined after entering the tendon sheath constraint structure (20).

[0043] Alternatively, in one embodiment, the tendon sheath restraint structure (20) is a single-layer structure, as shown in FIG3 , and the tendon sheath restraint portion (21) may include a plurality of tendon sheath restraint positions (202) arranged in parallel to form a structure similar to a multi-slide.

[0044] The cross-sectional shape of the tendon sheath restraint (202) has a relatively smooth contour, for example, the cross-sectional shape may include a plurality of arcs or a plurality of circular arc shapes.

[0045] The load-bearing component is usually also connected to one or more joints, and the tendon sheath passes through the joint and the load-bearing component in turn. When the joint has multiple degrees of freedom, the tendon sheath of the joint may move with the joint and have a large range of motion. The tendon sheath coming from the joint may not be able to smoothly enter the tendon sheath constraint structure (20) at the load-bearing component, or, because the tendon sheath may move with the joint, the tendon sheath may be stuck in the tendon sheath constraint structure (20). For example, the metacarpophalangeal joint has one pitch degree of freedom and one lateral swing degree of freedom. When the metacarpophalangeal joint performs a compound motion, on the one hand, it pitches around axis one, and on the other hand, it lateral swings around axis two. The pitch degree of freedom of the metacarpophalangeal joint is driven by tendon transmission. When the metacarpophalangeal joint lateral swings, the tendon sheath corresponding to the metacarpophalangeal joint and the tendon sheath corresponding to the finger joint also swing together. Since the tendon sheath may swing along with the metacarpophalangeal joint, the tendon sheath may be stuck when entering the tendon sheath restraint structure (20) at the connection position between the metacarpophalangeal joint (load-bearing component) and the metacarpophalangeal joint.

[0046] In one embodiment, the tendon sheath constraint portion (21) of the tendon sheath constraint structure (20) is provided with a transition portion (201) at an end position close to the joint. The transition portion (201) may include a trumpet structure located at the end of the tendon sheath constraint portion (21). By providing the transition portion (201), the tendon sheath can smoothly enter the tendon sheath constraint portion (21) through the transition portion (201) when the metacarpophalangeal joint swings, and avoid being stuck in the tendon sheath constraint structure (20) due to excessive swing of the tendon sheath.

[0047] Regarding the transition portion (201). In the horizontal direction, the cross-sectional shape of the transition portion (201) is a trumpet-shaped shape with gradually increasing size from the inside to the outside. FIG3 is a schematic diagram of the tendon sheath constraint structure (20) cut in the horizontal direction.

[0048] In addition, since there may be a height difference between the load-bearing component and the connected joint, for example, there is a height difference between the metacarpophalangeal joint and the metacarpophalangeal joint, and there is a height difference between the metacarpophalangeal joint and the carpometacarpal joint. In order to further improve the height, the top position height of the transition portion (201) increases from the inside to the outside, so as to improve the height difference between the metacarpophalangeal joint and the metacarpophalangeal joint, so that the path of the tendon sheath when passing through is smoother.

[0049] In a preferred embodiment, the tendon sheath restraint structure (20) is configured to detachably restrain the tendon sheath on the load-bearing body.

[0050] Regarding the second embodiment of the tendon sheath constraint structure (20):

[0051] Different from the first embodiment of the tendon sheath constraint structure (20), as a further improved solution, the tendon sheath constraint structure (20) includes not only a tendon sheath constraint portion (21), but also a limiting portion (22). When the tendon sheath passes through the tendon sheath constraint structure (20) along the horizontal direction as shown in Figure 2, the limiting portion (22) is configured to limit the top space of the tendon sheath in the tendon sheath constraint structure (20), and can limit the curling and deformation of the tendon sheath upward (top direction). The limiting portion (22) can also form an accommodating space (24) at the load-bearing structure, and the accommodating space (24) can provide space for the tendon sheath to curl and deform.

[0052] Furthermore, the limiting portion (22) of the tendon sheath restraint structure (20) further includes an opening (23) located on the side, and the opening (23) on the side can be directly or indirectly formed by the limiting portion (22). When the accommodation space (24) formed by the limiting portion (22) on the load-bearing structure cannot provide sufficient space for the tendon sheath to curl and deform, the tendon sheath can curl and move sideways from the opening (23) on the side.

[0053] The tendon sheath restraint portion (21) and the limiting portion (22) may be separate structures, or the tendon sheath restraint portion (21) and the limiting portion (22) may be an integrated structure.

[0054] In one embodiment, the load-bearing component includes one or more tendon sheath constraint structures (20) provided on the load-bearing body (10).

[0055] In one embodiment, the tendon sheath restraint structure (20) may include one or more tendon sheath restraints (21).

[0056] When the load-bearing component is the metacarpophalangeal joint, the following is one of the specific implementation schemes of the metacarpophalangeal joint.

[0057] The tendon sheath restraint structure (20) on the metacarpophalangeal joint includes two tendon sheath restraint parts (21), and the two tendon sheath restraint parts (21) can be respectively located at the two ends of the metacarpophalangeal joint. When the tendon sheath passes through the metacarpophalangeal joint, it passes through the first tendon sheath restraint part (21) and the second tendon sheath restraint part (21) at the two ends of the metacarpophalangeal joint in sequence.

[0058] In a preferred embodiment, the tendon sheath constraint structure (20) includes a limiting portion (22) between the two tendon sheath constraint portions (21), and the limiting portion (22) is configured to limit the top space of the tendon sheath in the tendon sheath constraint structure (20). The limiting portion (22) can limit the upward curling and deformation of the tendon sheath located between the first tendon sheath constraint structure (20) and the second tendon sheath constraint structure (20). The limiting portion (22) can be a limiting plate, and the two ends of the limiting plate can be respectively located on the two tendon sheath constraint structures (20); or, the limiting portion (22) is a limiting element, and the limiting element can be fixed on the metacarpophalangeal joint, and the top of the limiting portion (22) can limit the upward curling and deformation of the tendon sheath.

[0059] Furthermore, when the limiting portion (22) is a limiting plate or a limiting element, the limiting portion (22) can form an accommodating space (24) at the load-bearing structure (such as the metacarpophalangeal joint), and the accommodating space (24) can provide the tendon sheath with space for curling and deformation. Furthermore, the limiting portion (22) of the tendon sheath constraint structure (20) also includes an opening (23) located on the side, and the opening (23) on the side can be directly or indirectly formed by the limiting portion (22). For example, the gap between the limiting plate and the metacarpophalangeal joint forms the opening (23) on the side, or the side of the limiting element has an opening (23). When the accommodating space (24) formed by the limiting portion (22) on the metacarpophalangeal joint cannot provide enough space for the tendon sheath to curl and deform, the tendon sheath can curl and move to the side from the opening (23) on the side.

[0060] The two tendon sheath restraint parts (21) and the limiting part (22) of the metacarpophalangeal joint can be separate parts, as shown in Figure 3; or, any two of them can be an integrated structure; or, the two tendon sheath restraint parts (21) and the tendon sheath restraint structure (20) can be designed as an integrated whole.

[0061] Regarding the third embodiment of the tendon sheath constraint structure (20):

[0062] In a specific embodiment, the tendon sheath restraint structure (20) can also be an elastic structure wrapped around or wrapped around the load-bearing component.

[0063] The elastic structure may include an elastic rope or elastic band wrapped around the load-bearing body. For example, the elastic structure may be wrapped around the finger knuckle to constrain the tendon sheath. The tendon sheath is wrapped or wrapped around the joint by the elastic structure. On the one hand, the elastic structure provides the tendon sheath with an elastic force in the direction of the load-bearing component to limit the position and deformation range of the tendon sheath at the load-bearing component. On the other hand, the elastic structure allows the tendon sheath to curl and deform to a certain extent. Alternatively, the elastic structure includes a braided structure formed by an elastic rope or elastic band. The braided structure braided by the elastic rope or elastic band provides the tendon sheath with an elastic force in the direction of the load-bearing component to limit the position and deformation range of the tendon sheath. Alternatively, the elastic structure includes a flexible envelope element. The flexible envelope element may also be formed by an elastic polymer material. For example, the elastic structure is a molded part such as a rubber part, a silicone part, or the like formed by an elastic polymer material through a molding process, such as an elastic sleeve.

[0064] Preferably, when the tendon sheath restraint structure (20) includes a tendon sheath restraint portion (21) such as a restraint groove formed on the load-bearing component, an elastic structure such as an elastic rope or elastic belt can be further wrapped around the load-bearing component to further restrain the tendon sheath.

[0065] Regarding the implementation scheme of the load-bearing body (10):

[0066] In one embodiment, a receiving portion (11) for an actuator is further provided on the load-bearing body (10). The receiving portion (11) can accommodate actuators for driving other joints of the manipulator. For example, the actuator provided at the metacarpophalangeal joint can be used to drive the lateral swing degree of freedom of the metacarpophalangeal joint. The actuator may include but is not limited to a motor, a hydraulic element, a pneumatic actuator, an electro-actuated material element, an artificial muscle, etc. Preferably, the actuator is a motor.

[0067] Furthermore, the housing portion (11) is an enclosure structure, such as a semi-enclosed or fully enclosed structure, and the housing is used to install the motor and semi-enclose the motor or fully enclose the motor. The enclosed structure can isolate electromagnetic radiation on the one hand and can also play a role in waterproofing and dustproofing on the other hand. It is understandable that the end of the actuator extends from the housing portion (11), such as the output end of the motor and the electrical connection end of the motor.

[0068] Example 2

[0069] The present application also provides a metacarpophalangeal joint, which includes the load-bearing component of the above-mentioned tendon-driven robot.

[0070] The metacarpophalangeal segment is connected to the metacarpophalangeal joint, and the metacarpophalangeal joint includes a base, a swing structure, and a pitch structure.

[0071] The metacarpophalangeal joint is provided with a mounting opening for positioning and mounting the metacarpophalangeal joint (such as the base of the metacarpophalangeal joint). The mounting opening may include a mounting hole provided at one end of the metacarpophalangeal joint.

[0072] One end of the actuator can be fixed to the metacarpophalangeal joint, and the main body of the actuator is located in the receiving portion (11).

[0073] Example 3

[0074] The present application also provides a robot comprising a plurality of joints and a load-bearing component of the above-mentioned tendon-driven robot.

[0075] The load-bearing component can be used not only in the robot's manipulator, but also in other load-bearing locations on the robot. It can also be used in other types of multi-jointed machines, such as robotic animals or robotic insects with multiple joints. It is understood that the use of the load-bearing component is not limited to this.

[0076] The beneficial effects of this application are:

[0077] The present application provides a tendon sheath constraint structure on the load-bearing component, and the tendon sheath constraint structure is configured to allow the tendon sheath to slide through it, which can constrain the tendon sheath passing through the load-bearing component and constrain the position of the tendon sheath when passing through the load-bearing component.

[0078] 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 load-bearing component of a tendon-driven robot, characterized in that: The load-bearing component includes a load-bearing body and a tendon sheath restraint structure arranged on the load-bearing body, and the tendon sheath restraint structure is configured to allow the tendon sheath to slidably pass therein.

2. The load-bearing component of the tendon transmission robot according to claim 1, characterized in that: The tendon sheath restraint structure includes a tendon sheath restraint portion, and the number of the tendon sheath restraint portion is one or more.

3. The load-bearing component of the tendon transmission robot according to claim 2, characterized in that: The tendon sheath restraint structure also includes a limiting portion; the limiting portion is configured to limit the top space of the tendon sheath in the tendon sheath restraint structure, and the limiting portion forms an accommodating space at the load-bearing component.

4. The load-bearing component of the tendon transmission robot according to claim 3, characterized in that: The tendon sheath restraint structure also includes an opening located on the side.

5. The load-bearing component of the tendon transmission robot according to claim 2, characterized in that: A transition portion is provided at one end of the tendon sheath restraint structure.

6. The load-bearing component of the tendon transmission robot according to claim 5, characterized in that: In the horizontal direction, the cross-sectional shape of the transition portion is a trumpet-shaped shape whose size increases from the inside to the outside; and / or, in the height direction, the top position height of the transition portion increases from the inside to the outside.

7. The load-bearing component of the tendon transmission robot according to claim 3, characterized in that: The tendon sheath constraint structure includes two tendon sheath constraint parts and a limiting part between the two tendon sheath constraint parts; The two tendon sheath restraint parts and the limiting part are separate structures or integrated structures.

8. The load-bearing component of the tendon-driven robot according to claim 2, characterized in that: The tendon sheath constraint structure is a multi-layer structure; or, the tendon sheath constraint structure is a single-layer structure, and the tendon sheath constraint structure includes a plurality of tendon sheath constraint positions arranged in parallel.

9. The load-bearing component of the tendon transmission robot according to claim 1, characterized in that: The tendon sheath restraint structure includes an elastic structure wrapped around or wrapped around the load-bearing component.

10. The load-bearing component of the tendon transmission robot according to claim 9, characterized in that: The load-bearing body is provided with a constraint groove, and the constraint groove is configured to allow the tendon sheath to slidably pass therein; the elastic structure is wound around or wrapped around the load-bearing body.

11. The load-bearing component of the tendon transmission robot according to claim 9, characterized in that: The elastic structure comprises an elastic rope or elastic belt wound around a load-bearing body; or, the elastic structure comprises a braided structure formed by the elastic rope or elastic belt; or, the elastic structure comprises a flexible envelope element.

12. The load-bearing component of the tendon transmission robot according to claim 2, characterized in that: The load-bearing body is also provided with a receiving portion for the actuator, and the receiving portion is a semi-enclosed structure or a fully-enclosed structure.

13. A metacarpophalangeal joint, characterized in that: It comprises the load-bearing components of a tendon transmission robot as described in any one of claims 1-11.

14. A robot comprising a plurality of joints; characterized in that: It also includes the load-bearing components of the tendon-driven robot as described in any one of claims 1-11.

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