CN210971345U - Tendon transmission system with composite tendon sheath and tendon sheath restraining element - Google Patents
Tendon transmission system with composite tendon sheath and tendon sheath restraining element Download PDFInfo
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- CN210971345U CN210971345U CN201922123810.7U CN201922123810U CN210971345U CN 210971345 U CN210971345 U CN 210971345U CN 201922123810 U CN201922123810 U CN 201922123810U CN 210971345 U CN210971345 U CN 210971345U
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Abstract
The utility model discloses a tendon transmission system with compound tendon sheath and tendon sheath restraint component, this transmission system has been drawn for the sake of the tendon of staff, the compound tendon sheath structure that inner tendon sheath and outer tendon sheath constitute is proposed to tendon sheath and ligament tissue, can effectively reduce the friction between tendon and tendon sheath, prevent that the tendon sheath is damaged to the side tangential force of tendon, and I type tendon sheath restraint component, II type tendon sheath restraint component, III type tendon sheath restraint component and IV type tendon sheath restraint component have been proposed, can be gentle and agreeable retrain the position and the motion range of tendon sheath and make it can not deviate from, and can decouple each joint's that the compliance stridees across motion each other, and provide certain curved buffer space for the tendon sheath, and provide certain resistance to compression and shock resistance for the tendon sheath, this transmission system has simple structure reliably, have certainly, the life-span is higher and advantage such as easy to maintain, is particularly suitable for bionic dexterous hands, bionic mechanical feet or other robot mechanisms needing tendon transmission.
Description
Technical Field
The utility model belongs to the transmission field of dexterous hand or bionic mechanical foot, concretely relates to tendon transmission system with compound tendon sheath and tendon sheath restraint component.
Background
The bionic dexterous hand is a mechanical hand with hand indexes, freedom degrees, shapes and functions close to those of human hands, can flexibly and finely operate an object, is suitable for being applied to a service robot with stronger universality or industrial scenes such as flexible assembly and the like, and is used as a high-performance artificial limb; the bionic mechanical foot is a mechanical foot of a biped or quadruped robot and is mainly used for enabling the robot to walk, run, jump and climb on various grounds and terrains flexibly and flexibly. The bionic dexterous hand and the bionic mechanical foot are key components and devices of a bionic robot or a humanoid robot, and have the common characteristics of small size, large number of joints, large force transmission in a narrow space through a transmission system, and high flexibility due to the fact that the joints can be independently controlled, so that the design of the transmission system is very challenging.
At present, one transmission mode widely applied to various dexterous hands (and some mechanical feet) is tendon transmission, which transmits the force and motion of a driver positioned in an arm or a leg to joints of the hand or the foot through tendons (adopting steel wires or flexible ropes), and can effectively balance the contradiction between space size constraint and the need of transmitting larger force; some solutions also provide for sheathing the outer layer of the tendon with a tendon sheath (i.e., a flexible tube) that allows the tendon to slide axially within the tendon sheath for constraining the tendon to move. However, most of the current tendon transmission schemes still have some inherent problems which are not well solved.
The first problem is that there is a large friction between the tendon and the tendon sheath, both of which are easily worn; and because the tendon and the tendon sheath can be bent, when the tendon is tightened by applying a large pulling force, the tendon can cause a large internal cutting force on the inner side wall of the bent part of the tendon sheath, and the tendon sheath is easily cut.
The second problem is that when the tendon sheaths span one or more joints in cascade, a certain device is needed at the joints to restrain the position, the trend and the deformation range of the tendon sheaths. The current solutions include two types: one is that a gear or a pulley and the like are arranged at a joint to be used as a relay transmission part, but the scheme causes too many moving parts at the joint, the structural reliability is low, and the occupied space is large; the other is that the rigid semi-enclosed guide rail or the chute structure is arranged at the joint to be limited in the movement of the tendon sheath, but the tendon sheath is easy to fall out from the opening side of the chute, and the rigid chute structure and the like make the tendon sheath easy to have a sharp bending point, so that the tendon sheath is easy to damage.
The third problem is that the movement of each joint spanned by the tendon sheaths needs to be decoupled from each other, namely when one joint moves, the movement of other joints is not influenced; this requires that when a joint moves it cannot pull on the tendon sheaths of other joints which would otherwise pull on the movement of other joints.
A fourth problem is that the tendons should have a certain amount of convoluted buffer space that can be tightened or loosened to accommodate the change in the path length of the tendons due to rotation of the joints along the path as the joint or joints are rotated.
A fifth problem is that when the dexterous hand or the bionic mechanical foot is pressed or impacted, a certain protection is needed to prevent the transmission system from being damaged.
Disclosure of Invention
To solve the above problems of tendon transmission, the present invention provides a tendon transmission system having a composite tendon sheath and a tendon sheath constraining element; the transmission system provides a composite tendon sheath structure consisting of an inner-layer tendon sheath and an outer-layer tendon sheath by taking the tendon, the tendon sheath and the ligament tissue of a human hand as reference, can effectively reduce friction between the tendon and the tendon sheath and prevent the tendon sheath from being damaged by side cutting force of the tendon, and provides an I-type tendon sheath restraining element, a III-type tendon sheath restraining element, a II-type tendon sheath restraining element and an IV-type tendon sheath restraining element, can flexibly restrain the position and the motion range of the tendon sheath and prevent the tendon sheath from falling off, can decouple the motion of each joint spanned by the tendon sheath, provides a certain curled buffering space for the tendon sheath, and provides certain compression resistance and impact resistance protection for the tendon sheath; the transmission system has the advantages of simple and reliable structure, certain flexibility, longer service life, easy maintenance and the like, and is particularly suitable for being applied to bionic dexterous hands, bionic mechanical feet or other robot parts needing tendon transmission.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a tendon drive system having a composite tendon sheath and a tendon sheath constraining element, the system comprising: tendon, composite tendon sheath, tendon sheath fixing element, tendon sheath restraining element.
The tendons may use flexible cords (e.g., a maj or PE lines) or wire ropes for transmitting the driving force of the driver to the joints.
The composite tendon sheath is composed of at least two layers of tendon sheaths from inside to outside.
A single layer of sheaths is defined as a single layer of sheaths.
The composite tendon sheath or the single-layer tendon sheath has the functions of protecting the tendon and restraining the trend and the stroke of the tendon.
Further, the tendon-sheath constraining element comprises: type I tendon sheath constraining elements, type II tendon sheath constraining elements, type III tendon sheath constraining elements, type IV tendon sheath constraining elements.
The I-shaped tendon sheath restraining element is used for restraining the position and deformation range of a small number (no more than 4) of composite tendon sheaths or single-layer tendon sheaths passing through the joint; when the joint rotates, swings, bends or extends, the I-shaped tendon sheath restraining element restrains the composite tendon sheath or the single-layer tendon sheath in a deformation range, prevents the composite tendon sheath or the single-layer tendon sheath from being damaged due to sharp bending, and prevents the composite tendon sheath or the single-layer tendon sheath from falling off the joint; furthermore, the type I tendon-sheath restraining element is effective to protect the complex or single layer tendon-sheath when the joint is subjected to compressive or lateral shear forces.
The I-shaped tendon sheath restraining element is a flexible element capable of bending and is provided with one to a plurality of guide grooves or guide holes for guiding 1 to 4 composite tendon sheaths or single-layer tendon sheaths to slide along respective axial directions; the I-shaped tendon sheath restraining element is configured to be installed on an interphalangeal joint or a metacarpophalangeal joint of a dexterous hand, or a toe joint or a metatarsophalangeal joint of a bionic mechanical foot, or other robot joints passing through at least 1 but not more than 4 composite tendon sheaths or single-layer tendon sheaths.
The type II tendon-sheath restraining element is used for restraining the position and deformation range of a plurality (more than 4) of composite or single-layer tendon sheaths passing through the joint, and providing a certain curled buffer space for each composite or single-layer tendon sheath.
The type II tendon-sheath restraining element is a flexible element that can be bent, has one to a plurality of guide grooves or guide holes that guide at least 5 composite or single-layer tendons to slide along respective axial directions, and has a configuration that allows the one to a plurality of composite or single-layer tendons passing therethrough to each curl inside the type II tendon-sheath restraining element; the type II tendon sheath constraint element is configured to be arranged on a wrist joint of a dexterous hand, or an ankle joint of a bionic mechanical foot, or other robot joints with at least 5 composite tendon sheaths or single-layer tendon sheaths.
The III type tendon sheath restraining element is used for restraining the position and deformation range of one or more composite or single-layer tendon sheaths at the rod part (non-joint part) passing through the robot joint, and providing a certain curled buffering space for each composite or single-layer tendon sheath, and is particularly suitable for being installed on the palm part of a dexterous hand.
The type III tendon-sheath restraining element having one to more guide grooves or holes that guide one to more composite or single-layer tendon sheaths to slide along respective axial directions, and having a configuration that allows respective crimping of portions of one to more composite or single-layer tendon sheaths in the type III tendon-sheath restraining element; the III type tendon sheath constraint element is configured to be arranged on the palm part or the metacarpophalangeal joints of a dexterous hand, or the palm part of a bionic mechanical foot, or the non-joint part of other robot mechanisms.
The type IV tendon-sheath restraining element is used to flexibly guide and restrain the position and deformation range of the composite or single-layer tendon sheath at the shaft (non-joint) passing through the robot joint, and to avoid the composite or single-layer tendon sheath from being twisted at the position.
The IV-type tendon sheath restraining element is provided with one or more guide grooves or guide holes for guiding one or more composite tendon sheaths or single-layer tendon sheaths to slide along respective axial directions; the type IV tendon sheath restraining element is configured to be mounted to a knuckle of a dexterous hand, or a toe of a biomimetic mechanical foot, or an non-articulating portion of other robotic mechanism.
A single guide slot or guide hole may guide multiple composite or single layer sheaths in a particular configuration.
At least one end of the tendon is fixed with an output shaft of the driver or the capstan, any point on the tendon is fixed with the rotating end of the driven robot joint, and the driving force of the driver is transmitted to the joint.
One end of the composite tendon sheath is fixedly connected with a joint seat of the driven robot joint through a tendon sheath fixing element, and the other end of the composite tendon sheath is fixedly connected with other parts of the robot through the tendon sheath fixing element.
The tendon slides in the composite tendon sheath in the axial direction of the composite tendon sheath.
Preferably, 1 tendon sheath end socket is respectively installed at both ends of compound tendon sheath, binds each layer tendon sheath together to prevent the lubricating fluid between tendon and the innermost tendon sheath to leak outward.
Preferably, the inner tendon sheath of the composite tendon sheath is a tightly wound reed pipe, and the rigidity of the material can prevent the inner tendon sheath from being worn or cut by the lateral shearing force of the tendon; the side bending capability is strong, and meanwhile, the tightly wound spring tube cannot be axially compressed to cause plastic deformation, so that great tensile force can be transmitted; the spring tube is preferably made of steel or copper.
Preferably, the outer tendon sheaths of the composite tendon sheaths are flexible tubes which have high hardness on the outer surface, are smooth and wear-resistant and can be flexibly bent, are sleeved outside the inner tendon sheaths, and are used for preventing the inner tendon sheaths from being excessively bent and damaged and providing support and protection for the inner tendon sheaths when the transmission system is subjected to external lateral shear force or extrusion force.
Preferably, the space between the tendon and the innermost layer of the composite tendon sheath is filled with a lubricating fluid.
Preferably, the lubricating fluid is filled in the gap between the outermost layer of the composite tendon sheath and the guide hole of the type IV tendon sheath constraining element.
The lubricating liquid is used for reducing friction, heating and noise, and provides buffer when the robot joint is reversed at high speed and frequently, so that the system is prevented from generating resonance.
Further, the type I tendon sheath restraining element is a hollow soft sleeve structure, or a structure having one to more connecting bands and two to more tensioning rings.
The coupling straps flexibly couple the respective tension rings together.
The I-shaped tendon sheath restraining element is tensioned on an interphalangeal joint or a metacarpophalangeal joint of a dexterous hand through a soft sleeve structure or a tensioning ring, or a toe joint or a metatarsophalangeal joint of a bionic mechanical foot, or other robot joints passing through at least 1 but not more than 4 composite tendon sheaths or single-layer tendon sheaths.
The side wall of the type I tendon-sheath restraining element may have one or more strengthening ribs.
The inner wall of the one or more guide holes of the type I tendon sheath constraining element may have an anti-wear layer or an anti-wear sleeve.
Further, the type II tendon sheath restraining element is a hollow soft sleeve structure, or a structure having two or more tightening rings and one or more outer side protection plates and one or more inner side protection plates.
The outer and inner protective sheets flexibly couple the respective cinch rings together.
The II-type tendon sheath restraining element is tensioned on a wrist joint of a dexterous hand or an ankle joint of a bionic mechanical foot through a soft sleeve structure or a contraction ring of the II-type tendon sheath restraining element or other robot joints through at least 5 composite tendon sheaths or single-layer tendon sheaths.
The inner wall of the one or more guide holes of the type II tendon sheath constraining element may have an anti-wear layer or an anti-wear sleeve.
The type II tendon sheath restraining element can be internally provided with one or more separating sheets.
The outer side protection plate, the separating plate and the inner side protection plate are arranged from outside to inside, and spaces among the outer side protection plate, the separating plate and the inner side protection plate separate a plurality of composite tendons or single-layer tendons penetrating through the outer side protection plate and support independent coils of the composite tendons or the single-layer tendons, and the coiled parts of the composite tendons or the single-layer tendons do not exceed the spaces; the outer protective sheet is used for restraining the composite tendon sheath or the single-layer tendon sheath from falling off outwards and protecting the composite tendon sheath or the single-layer tendon sheath when the joint is subjected to pressure and tangential force; the inner side protection sheet is used for restraining the composite tendon sheath or the single-layer tendon sheath from falling off inwards; the separating sheet is used for separating a plurality of composite tendon sheaths or single-layer tendon sheaths and reducing mutual interference of the composite tendon sheaths and the single-layer tendon sheaths.
Further, the type III tendon sheath restraining element is provided with two fixing ends and a cover plate.
The type III tendon sheath constraining element may have one or more layered sheets therein.
The fixed ends are respectively provided with one or more guide holes; the two ends of the guide hole can be in smooth transition, so that the composite tendon sheath or the single-layer tendon sheath is prevented from being damaged due to sharp bending; the inner wall of the guide hole is smooth, so that the composite tendon sheath or the single-layer tendon sheath can pass through the guide hole and can freely slide along the axis of the guide hole.
The cover plate and the layered sheets are arranged in parallel longitudinally between the two fixed ends, and the space between the cover plate and the layered sheets is used for layering each composite tendon sheath or single-layer tendon sheath which passes through the cover plate and supporting the composite tendon sheath or the single-layer tendon sheath to be independently coiled; the cover plate is used for preventing the composite tendon sheath or the single-layer tendon sheath from being damaged due to pressure and tangential force; the laminae are used for separating different composite tendons or single-layer tendons in a layering way, and each composite tendon or single-layer tendon can be coiled in the respective plane space without interfering with each other.
One proposal is that the IV-type tendon sheath restraining element is a hollow tube structure, and the through hole of the IV-type tendon sheath restraining element has the function of a guide hole.
Preferably, the type IV tendon sheath constraining element is a flexible tube with smooth and wear-resistant inner wall, high strength and capable of being bent, so that the composite tendon sheath or the single-layer tendon sheath can freely slide in the axial direction.
The utility model has the advantages that: the utility model discloses a tendon transmission system with a composite tendon sheath and a tendon sheath restraining element; the transmission system provides a composite tendon sheath structure consisting of an inner-layer tendon sheath and an outer-layer tendon sheath by taking the tendon, the tendon sheath and the ligament tissue of a human hand as reference, can effectively reduce friction between the tendon and the tendon sheath and prevent the tendon sheath from being damaged by side cutting force of the tendon, and provides an I-type tendon sheath restraining element, a III-type tendon sheath restraining element, a II-type tendon sheath restraining element and an IV-type tendon sheath restraining element, can flexibly restrain the position and the motion range of the tendon sheath and prevent the tendon sheath from falling off, can decouple the motion of each joint spanned by the tendon sheath, provides a certain curled buffering space for the tendon sheath, and provides certain compression resistance and impact resistance protection for the tendon sheath; the transmission system has the advantages of simple and reliable structure, certain flexibility, longer service life, easiness in maintenance and the like, and is particularly suitable for being applied to bionic dexterous hands and bionic mechanical feet.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of a tendon transmission system having a composite tendon sheath and a tendon sheath constraining element according to the present invention;
fig. 2 is a schematic semi-sectional view of a composite tendon sheath of a tendon drive system having a composite tendon sheath and a tendon sheath constraining element according to an embodiment of the present invention;
fig. 3 is a schematic view of an I-shaped tendon sheath constraining element using oblique reinforcing ribs for a tendon transmission system having a composite tendon sheath and a tendon sheath constraining element according to an embodiment of the present invention;
fig. 4 is a schematic view of a tendon sheath restraining element of type I using vertical reinforcing ribs for a tendon drive system having a composite tendon sheath and tendon sheath restraining element according to an embodiment of the present invention;
fig. 5 is a schematic view of a half-section of an I-shaped tendon sheath constraining element of a tendon transmission system having a composite tendon sheath and a tendon sheath constraining element according to an embodiment of the present invention;
fig. 6 is a schematic view of a type II tendon sheath constraining element of a tendon drive system having a composite tendon sheath and tendon sheath constraining element in an embodiment of the present invention;
fig. 7 is a schematic view of a type III tendon sheath constraining element of a tendon drive system having a composite tendon sheath and tendon sheath constraining element in an embodiment of the present invention;
fig. 8 is a schematic view of an installation position of a type IV tendon sheath constraining element of a tendon drive system having a composite tendon sheath and a tendon sheath constraining element according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 and 8, an embodiment of the present invention discloses a tendon drive system having a composite tendon sheath and a tendon sheath constraining element, the system comprising: tendon 8, composite tendon sheath 10, tendon sheath fixing element 11, tendon sheath restraining element.
The tendon-sheath constraining element comprises: type I tendon sheath constraining elements 12, type II tendon sheath constraining elements 14, type III tendon sheath constraining elements 13, type IV tendon sheath constraining elements 34.
The tendon 8 is a flexible wire rope (e.g., a majus PE wire) or a steel wire rope for transmitting the driving force of the driver to the joint.
At least one end of the tendon 8 is fixed with an output shaft or a capstan of the driver, any point on the tendon 8 is fixed with a rotating end (such as an interphalangeal joint rotating end 1) of a driven robot joint, and the driving force of the driver is transmitted to the joint.
Referring to fig. 1 and 2, the composite tendon sheath 10 is composed of at least two tendon sheaths from inside to outside.
A single layer of sheaths is defined as a single layer of sheaths.
The composite or single layer tendon sheath 10 has the functions of protecting the tendon 8 and constraining the strike and stroke of the tendon 8.
Referring to fig. 2 and 5, an embodiment of the present invention is that the composite tendon sheath 10 is composed of an inner tendon sheath 29, an outer tendon sheath 30 and a tendon sheath sealing head 9.
The inner tendon sheath 29 enables the tendon 8 to slide axially therein; the inner tendon sheath 29 is made of a tightly wound spring tube, and the rigidity of the material can prevent the inner tendon sheath from being worn or cut by the lateral shearing force of the tendon 8; the side bending capability is strong, and meanwhile, the tightly wound spring tube cannot be axially compressed to cause plastic deformation, so that great tensile force can be transmitted; the spring tube is preferably made of steel or copper.
The outer tendon sheaths 30 are flexible tubes with high hardness, smooth and wear-resistant outer surfaces and can be bent, and are sleeved outside the inner tendon sheaths 29 to prevent the inner tendon sheaths 29 from being damaged due to excessive bending and provide support and protection for the inner tendon sheaths 29 when the transmission system is subjected to external lateral shearing force or extrusion force.
The gap between the tendon 8 and the inner tendon sheath 29 is filled with viscous lubricating liquid for reducing friction, heating and noise, and providing buffer when the robot joint is reversed at high speed and frequently, so as to avoid the system from generating resonance.
The tendon sheath sealing heads 9 are arranged at two ends of the composite tendon sheath 10 and used for binding the inner tendon sheath 29 and the outer tendon sheath 30 together and preventing lubricating liquid between the tendon 8 and the inner tendon sheath 29 from leaking outside.
Referring to fig. 1 and 2, the tendon sheath fixing element 11 may form a fit with the tendon sheath end cap 9, for example, the tendon sheath fixing element 11 is tightened on the outer layer of the tendon sheath end cap 9; one end of the composite tendon sheath 10 is fixed to a joint base (an interphalangeal joint base 2 shown in fig. 1) of the driven robot joint through a tendon sheath fixing element 11, and the other end of the composite tendon sheath 10 is fixed to a tendon sheath guide base or a driver mount base of the wrist joint base 7 or the forearm through the tendon sheath fixing element 11.
Referring to fig. 3, 4 and 5, the type I tendon-sheath constraining element 12 is in the form of a hollow sleeve with two tensioning rings 15 and two coupling bands 16, with one or more type I guide holes 17 inside or outside, through which the composite or single-layer tendon sheaths 10 pass and can freely slide along their axes.
The I-shaped tendon sheath constraining element 12 is a flexible element, and can be made of rubber or human silica gel, and the like, and the side wall of the I-shaped tendon sheath constraining element can be provided with an oblique reinforcing rib 18 (see fig. 3) or a vertical reinforcing rib 35 (see fig. 4) for constraining the position and the deformation range of the composite tendon sheath 10 or the single-layer tendon sheath passing through the joint; when the joint rotates, swings, bends or extends, the I-shaped tendon sheath constraining element 12 constrains the composite tendon sheath 10 or the single-layer tendon sheath within a deformation range, prevents the composite tendon sheath 10 or the single-layer tendon sheath from being damaged due to sharp bending, and prevents the composite tendon sheath 10 or the single-layer tendon sheath from falling out of the joint; furthermore, the type I tendon-sheath restraining element 12 is effective to protect the composite or single layer of tendon-sheath 10 when the joint is subjected to compressive or lateral shear forces.
Referring to fig. 1, the type I tendon sheath restraining element 12 is configured to be mounted to an interphalangeal joint (formed by the interphalangeal joint base 2 and the interphalangeal joint rotating end 1) or a metacarpophalangeal joint 3 of a dexterous hand, or a toe joint or a metatarsophalangeal joint of a bionic mechanical foot, or other joints requiring passage of a small number of composite tendon sheaths 10 or a single tendon sheath.
In the embodiment shown in fig. 1, only one dexterous hand finger consisting of two knuckles is shown, and the I-shaped tendon-sheath restriction element 12 is shown mounted on the metacarpophalangeal joint 3; in practice the type I tendon sheath restraining element 12 may be applied to a multi-fingered (each finger comprising multiple knuckles) dexterous hand and to each knuckle or metacarpophalangeal joint 3 of each finger.
Referring to fig. 1 and 6, the type II tendon sheath constraining element 14 is a flexible element that can be bent, and may be made of rubber or human silica gel; the type II tendon-sheath restraining element 14 has 1 restraining ring 27, two to more outer protective sheets 23, two to more inner protective sheets 25, and one to more spacers 24 on the front and rear sides thereof, respectively, for restraining the positions and deformation ranges of the multiple composite tendons 10 or single-layer tendons passing through the joint, and providing a certain amount of curling buffer space for each of the multiple composite tendons 10 or single-layer tendons.
The binding rings 27 are respectively provided with one or more II-shaped guide holes 26; the inner wall of the II-type guide hole 26 is provided with an anti-wear layer, and the composite tendon sheath 10 or the single-layer tendon sheath passes through the IV-type tendon sheath constraining element 34 and can freely slide along the axis of the IV-type tendon sheath constraining element; the binding ring 27 has a mounting opening for fitting with a joint (e.g., a wrist joint 6) of a robot; for example, one collar 27 of the type II tendon sheath constraining element 14 may be fitted over the wrist joint rotation end 5 and the other collar 27 fitted over the wrist joint seat 7.
The outer protective sheet 23 is used to restrain the composite tendon sheath 10 or the single-layer tendon sheath from slipping out to the outside, and to protect the composite tendon sheath 10 or the single-layer tendon sheath when the joint is subjected to pressure and tangential force.
The inner protective sheet 25 is used to restrain the composite tendon sheath 10 or the single-layer tendon sheath from coming off to the inner side.
The separating sheet 24 is used for separating a plurality of composite tendon sheaths 10 or single-layer tendon sheaths to reduce interference among the composite tendon sheaths 10 or the single-layer tendon sheaths.
The space between the outside protective sheet 23, the separating sheet 24 and the inside protective sheet 25 provides a sinusoidal buffer space for each composite tendon sheath 10 or single-layer tendon sheath.
The type II tendon-sheath restraining element 14 shown in fig. 1 and 6 of the present embodiment has a rectangular cross section, and in practical applications, the shape of the type II tendon-sheath restraining element 14 can also be adjusted according to the shape of the joint, for example, the cross section is made into an oval shape.
Referring to fig. 1, the type II tendon sheath constraining element 14 is configured to be mounted to a wrist joint 6 of a dexterous hand or an ankle joint of a bionic mechanical foot, or other joint sites where a large number of tendons and tendon sheaths need to be passed through.
Referring to fig. 1 and 7, the type III tendon-sheath restraining element 13 is made of a flexible material or a non-flexible material, and has two fixing ends 22, a cover plate 21, and one or more layered sheets 20 for restraining one or more composite tendons 10 or single-layer tendons in a position and deformation range passing through a stem portion (e.g., metacarpophalangeal segment 4) of the robot joint, and providing a certain curling buffer space for each of the composite tendons 10 or single-layer tendons.
The fixed ends 22 are respectively provided with one or more III-type guide holes 19; the type III guide hole 19 has smooth inner walls, so that the composite tendon sheath 10 or the single-layer tendon sheath can pass through the inner walls and can freely slide along the axis of the inner walls; the two ends of the III-type guide hole 19 are in smooth transition, so that the composite tendon sheath 10 or the single-layer tendon sheath is prevented from being damaged due to sharp bending; the fixed end 22 can be fixed to the rod part (such as the metacarpophalangeal knuckle 4) of the robot joint by means of screws, buckles, adhesion and the like.
The cover plate 21 serves to protect the composite or single-layer tendon sheath 10 from damage caused by pressure and tangential forces.
The laminae 20 are used to separate the different composite sheaths 10 or single-layer sheaths, each composite sheath 10 or single-layer sheath can be coiled in the respective plane space, the coiled part of the composite sheath 10 or single-layer sheath is positioned inside the type III sheath constraining element 13 and protrudes to the two sides without interfering with each other.
Referring to fig. 1, the type III tendon sheath restraining element 13 is configured to be mounted to the metacarpal knuckle 4 of a dexterous hand, or the ball of a biomimetic mechanical foot, or other non-articulating component.
Referring to fig. 8, in one embodiment, the type IV tendon sheath constraining element 34 is a flexible tube with smooth and wear-resistant inner wall, high strength and flexibility, and a through hole thereof enables the composite tendon sheath 10 or the single-layer tendon sheath to freely slide axially therein for flexibly guiding and constraining the trend of the composite tendon sheath 10 or the single-layer tendon sheath.
One finger shown in fig. 8 is composed of a distal knuckle 31, a middle knuckle 32, and a proximal knuckle 33 hinged in sequence; the dorsal side and the palmar side of the middle knuckle 32 are respectively connected with 1 composite tendon sheath 10 through 1 tendon sheath fixing element 11; the dorsal side and the palmar side of the proximal knuckle 33 are respectively provided with one IV-type tendon sheath restraining element 34; one point in the middle of the tendon 8 is fixedly connected with the joint rotating end of the distal knuckle 31 and can slide in the composite tendon sheath 10 along the axial direction; the composite tendon sheath 10 is slidable within the type IV tendon sheath restraining element 34.
Viscous lubricating liquid is filled in a gap between the composite tendon sheath 10 and the IV-type tendon sheath constraining element 34, so that friction, heating and noise are reduced, and when the robot joint is reversed at a high speed and frequently, buffering is provided, and resonance of the system is avoided.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A tendon drive system having a composite tendon sheath and a tendon sheath constraining element, comprising: a tendon, a composite tendon sheath, a tendon sheath fixation element, a tendon sheath constraining element;
the tendon-sheath constraining element comprises: a type I tendon sheath restraining element, a type II tendon sheath restraining element, a type III tendon sheath restraining element, a type IV tendon sheath restraining element;
the composite tendon sheath is formed by at least two layers of tendon sheaths from inside to outside;
the I-shaped tendon sheath restraining element is a flexible element capable of bending and is provided with one to a plurality of guide grooves or guide holes for guiding 1 to 4 composite tendon sheaths or single-layer tendon sheaths to slide along respective axial directions; the I-type tendon sheath constraint element is configured to be arranged at an interphalangeal joint or a metacarpophalangeal joint of a dexterous hand, or a toe joint or a metatarsophalangeal joint of a bionic mechanical foot, or other robot joints passing through at least 1 but not more than 4 composite tendon sheaths or single-layer tendon sheaths;
the type II tendon-sheath restraining element is a flexible element that can be bent, has one to a plurality of guide grooves or guide holes that guide at least 5 composite or single-layer tendons to slide along respective axial directions, and has a configuration that allows the one to a plurality of composite or single-layer tendons passing therethrough to each curl inside the type II tendon-sheath restraining element; the type II tendon sheath constraint element is configured to be arranged at a wrist joint of a dexterous hand, or an ankle joint of a bionic mechanical foot, or other robot joints with at least 5 composite tendon sheaths or single-layer tendon sheaths;
the type III tendon-sheath restraining element having one to more guide grooves or holes that guide one to more composite or single-layer tendon sheaths to slide along respective axial directions, and having a configuration that allows respective crimping of portions of one to more composite or single-layer tendon sheaths in the type III tendon-sheath restraining element; the III type tendon sheath constraint element is configured to be arranged on the palm part or the metacarpophalangeal knuckle of a dexterous hand, or the palm part of a bionic mechanical foot, or the non-joint part of other robot mechanisms;
the IV-type tendon sheath restraining element is provided with one or more guide grooves or guide holes for guiding one or more composite tendon sheaths or single-layer tendon sheaths to slide along respective axial directions; the IV-type tendon sheath restraining element is configured to be mounted on a knuckle of a dexterous hand, or a toe knuckle of a bionic mechanical foot, or an articulated part of other robot mechanisms;
at least one end of the tendon is fixed with an output shaft of the driver or the winch, any point on the tendon is fixed with the rotating end of the driven robot joint, and the driving force of the driver is transmitted to the joint;
one end of the composite tendon sheath is fixedly connected with a joint seat of the driven robot joint through a tendon sheath fixing element, and the other end of the composite tendon sheath is fixedly connected with other parts of the robot through the tendon sheath fixing element;
the tendon slides in the composite tendon sheath in the axial direction of the composite tendon sheath.
2. A tendon drive system as claimed in claim 1 having a composite tendon sheath and a tendon sheath constraining element wherein 1 tendon sheath end cap is mounted to each end of the composite tendon sheath to bind the layers of tendon sheath together.
3. A tendon drive system as claimed in claim 1 or claim 2 having a composite tendon sheath and a tendon sheath constraining element wherein the gap between the tendon and the innermost layer of the composite tendon sheath is filled with a lubricating fluid.
4. A tendon drive system as claimed in claim 1 or claim 2 having a composite tendon sheath and a tendon sheath constraining element wherein the space between the outermost layer of the composite tendon sheath and the guide bore of the type IV tendon sheath constraining element is filled with a lubricating fluid.
5. A tendon drive system as claimed in claim 1 having a composite tendon sheath and a tendon sheath constraining element wherein the type I tendon sheath constraining element is a hollow flexible sleeve structure or a structure having one to a plurality of tie straps and two to a plurality of tension rings;
the connecting belt flexibly connects the tensioning rings together;
the I-shaped tendon sheath restraining element is tensioned on an interphalangeal joint or a metacarpophalangeal joint of a dexterous hand through a soft sleeve structure or a tensioning ring, or a toe joint or a metatarsophalangeal joint of a bionic mechanical foot, or other robot joints passing through at least 1 but not more than 4 composite tendon sheaths or single-layer tendon sheaths;
the side wall of the I-shaped tendon sheath restraining element can be provided with one or more reinforcing ribs;
the inner wall of the one or more guide holes of the type I tendon sheath constraining element may have an anti-wear layer or an anti-wear sleeve.
6. A tendon transmission system having a composite tendon sheath and tendon sheath constraining element as claimed in claim 1 wherein the type II tendon sheath constraining element is a hollow flexible sleeve structure or a structure having two or more constricting rings and one or more outer protective sheets and one or more inner protective sheets;
the outer protective sheet and the inner protective sheet flexibly connect the contraction rings together;
the II-type tendon sheath restraining element is tensioned on a wrist joint of a dexterous hand, or an ankle joint of a bionic mechanical foot, or other robot joints passing through at least 5 composite tendon sheaths or single-layer tendon sheaths through a soft sleeve structure or a contraction ring of the II-type tendon sheath restraining element;
the inner wall of the one or more guide holes of the type II tendon sheath constraining element may have an anti-wear layer or an anti-wear sleeve;
the type II tendon sheath constraining element can be internally provided with one or more separating sheets;
the outer protective sheet, the separating sheet and the inner protective sheet are arranged from outside to inside, and spaces among the outer protective sheet, the separating sheet and the inner protective sheet separate a plurality of composite tendons or single-layer tendons penetrating through the outer protective sheet from each other and support independent coils of the composite tendons or the single-layer tendons, and the coiled parts of the composite tendons or the single-layer tendons do not exceed the spaces.
7. A tendon drive system as claimed in claim 1 having a composite tendon sheath and a tendon sheath constraining element wherein the type III tendon sheath constraining element has two fixed ends, a cover plate;
the type III tendon sheath constraining element can be internally provided with one or more layered sheets;
the fixed ends are respectively provided with one or more guide holes;
the cover and the spacers are arranged longitudinally in parallel between the two fixed ends, the space between them layering the individual composite or single layer of sheaths passing through them and supporting them in their respective independent coils.
8. A tendon drive system as claimed in claim 1 having a composite tendon sheath and a tendon sheath constraining element wherein the type IV tendon sheath constraining element is a hollow tube structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922123810.7U CN210971345U (en) | 2019-12-02 | 2019-12-02 | Tendon transmission system with composite tendon sheath and tendon sheath restraining element |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922123810.7U CN210971345U (en) | 2019-12-02 | 2019-12-02 | Tendon transmission system with composite tendon sheath and tendon sheath restraining element |
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| CN210971345U true CN210971345U (en) | 2020-07-10 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021110058A1 (en) * | 2019-12-02 | 2021-06-10 | 深圳忆海原识科技有限公司 | Tendon transmission system with composite tendon sheath and tendon sheath restraining element |
| CN113232013A (en) * | 2021-04-16 | 2021-08-10 | 佛山纽欣肯智能科技有限公司 | Manipulator system with multi-rope driving unit |
| WO2022228584A1 (en) * | 2021-04-28 | 2022-11-03 | 深圳忆海原识科技有限公司 | Tendon transmission assembly |
| WO2023241694A1 (en) * | 2022-06-17 | 2023-12-21 | 深圳忆海原识科技有限公司 | Tendon transmission structure |
-
2019
- 2019-12-02 CN CN201922123810.7U patent/CN210971345U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021110058A1 (en) * | 2019-12-02 | 2021-06-10 | 深圳忆海原识科技有限公司 | Tendon transmission system with composite tendon sheath and tendon sheath restraining element |
| CN113232013A (en) * | 2021-04-16 | 2021-08-10 | 佛山纽欣肯智能科技有限公司 | Manipulator system with multi-rope driving unit |
| WO2022228584A1 (en) * | 2021-04-28 | 2022-11-03 | 深圳忆海原识科技有限公司 | Tendon transmission assembly |
| WO2023241694A1 (en) * | 2022-06-17 | 2023-12-21 | 深圳忆海原识科技有限公司 | Tendon transmission structure |
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