CN220313345U

CN220313345U - Tendon and tendon transmission assembly and robot

Info

Publication number: CN220313345U
Application number: CN202321991261.5U
Authority: CN
Inventors: 任化龙; 李文强
Original assignee: Shenzhen Yihai Yuan Knowledge Technology Co ltd
Current assignee: Shenzhen Yihai Yuan Knowledge Technology Co ltd
Priority date: 2023-07-26
Filing date: 2023-07-26
Publication date: 2024-01-09
Anticipated expiration: 2033-07-26

Abstract

The application provides a tendon comprising a tendon core body and a sleeve. According to the tendon core protection device, the sleeve is arranged on the tendon, the sleeve is sleeved on the tendon core body, the tendon core body can be protected, and the reliability and the service life of the tendon are improved.

Description

Tendon and tendon transmission assembly and robot

Technical Field

The application belongs to the technical field of robots, and more specifically relates to tendons, tendon transmission assemblies and robots.

Background

A manipulator of a robot generally has a plurality of joints and has a relatively small physical space, and in order to realize independent control of each joint in a small space, tendon transmission technology is applied to drive the plurality of joints of the manipulator in the prior art. Drive assemblies comprising a plurality of drive units are typically located in a remote area, such as an arm, the drive units being operable to control movement of the joint via tendons. One end of the tendon may be linked to the output end of the actuator and the other end of the tendon may be connected to the rotating end of the joint. A tendon sheath may be provided on the outside of the tendon, and at least a portion of the tendon may be slidable in the tendon sheath.

In the prior art, tendons are damaged due to possible friction and cutting force, thereby affecting the reliability and service life of tendon transmission.

Disclosure of Invention

In order to solve the above problems, embodiments of the present application provide a tendon, a tendon transmission assembly, and a robot.

The application provides a tendon comprising a tendon core body and a sleeve.

According to one of the tendons provided herein, the position of the sleeve on the tendon core body is relatively fixed.

According to one of the tendons provided by the application, the material of the sleeve comprises a high polymer material. The polymer material may include conventional polymer materials, and ultra-high molecular weight materials, high molecular polymer materials, high molecular modified materials, and the like.

The sleeve can be a self-lubricating sleeve, and the material of the sleeve comprises a self-lubricating high polymer material; and/or the sleeve may be an abrasion resistant sleeve, the material of the sleeve comprising an abrasion resistant polymeric material. Preferably, the sleeve is made of a polymer material with good self-lubricating performance and wear resistance. The material of the sleeve can comprise any one or more of fluorine-containing materials, silicone, modified silicone, polyurethane, modified polyurethane and fluorinated modified silicone.

According to one tendon provided herein, the tendon core body and the sleeve have a first wear layer therebetween;

the first wear layer is formed on the tendon core body surface and/or the first wear layer is formed on the inner surface of the sleeve. The first wear layer may include any one of a nano-spray coating layer, a plating film layer, and a sedimentation layer.

According to one of the tendons provided herein, the tendon core body includes any one of the following:

the tendon core body comprises an intermediate core material;

the tendon core main body comprises a plurality of strands of braided wires;

the tendon core body comprises a middle core material and a plurality of strands of braided wires wound on the middle core material.

According to one tendon provided herein, the tendon core body includes a second abrasion resistant layer between the intermediate core material and the plurality of strands of braided wire;

the second abrasion-resistant layer is formed on the surface of the intermediate core material, and/or the second abrasion-resistant layer is formed on the surface of the multi-strand braided wire. The second wear layer may include any one of a nano-spray layer, a coating layer, a plating layer, a sedimentation layer.

According to one tendon provided by the application, the tendon core main body and the sleeve are of an integrated structure; alternatively, the tendon core body and the sleeve are of a split structure.

According to one type of tendon provided in the present application,

the sleeve is a heat-shrinkable tube, and is sleeved on the tendon core main body, and the position of the heat-shrinkable tube and the tendon core main body are relatively fixed after heat shrinkage; and/or the number of the groups of groups,

the two ends of the sleeve are fixed with the tendon core main body. The two can be fixed together through a fixing structure; or, the two ends of the sleeve are fixed with the tendon core body in an adhesive manner.

At least one end of the tendon core body is exposed from the sleeve. Preferably, both ends of the tendon core body are exposed from the sleeve.

The present application also provides a tendon transmission assembly comprising a tendon sheath and a tendon as described above; the tendon is slidably disposed in the tendon sheath.

The present application also provides a robot comprising a plurality of joints, tendon sheaths and tendons as described above; the tendon is connected to the rotational end of the joint, and the tendon passes through the tendon sheath.

The beneficial effects of this application lie in:

according to the tendon core, the sleeve is sleeved on the tendon, the tendon core body can be protected by the sleeve, friction and heating between the tendon and the tendon sheath are reduced, and the reliability and the service life of the tendon are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a first embodiment of a tendon provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of a second embodiment of a tendon provided in an embodiment of the present application;

fig. 3 is a schematic structural view of a third embodiment of a tendon according to an embodiment of the present application.

Wherein, each reference sign in the figure:

tendon core body 11, sleeve 12, first abrasion resistant layer 13, intermediate core 111, multi-strand braided wire 112, second abrasion resistant layer 113.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present 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 for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Referring to fig. 1 to 3, a tendon transmission assembly and a robot according to an embodiment of the present application will now be described.

Embodiments of the present application provide a tendon that includes a tendon core body 11 and a sleeve 12, as shown in fig. 1. At least a portion of the sleeve 12 is located outside of the tendon to protect the tendon core body 11, which is advantageous for improving the reliability and lifetime of the tendon.

In one embodiment, the sleeve 12 is smooth-surfaced, flexible, bendable hose. The cross-sectional shape of the tendon is not limited.

In one embodiment, the sleeve 12 is positioned relatively fixedly on the tendon core body 11. The sleeve 12 does not slide over the tendon core body 11, and the tendon core body 11 and the sleeve 12 move synchronously as the tendon moves in the tendon sheath.

The material of the sleeve 12 is preferably a polymer material. The polymer material may include conventional polymer materials, and ultra-high molecular weight materials, high molecular polymer materials, high molecular modified materials, and the like.

According to one of the tendons provided in the present application, the sleeve 12 may be a self-lubricating sleeve, and the material of the sleeve 12 includes a self-lubricating polymer material; alternatively, the sleeve 12 may be an abrasion resistant sleeve, and the material of the sleeve 12 may include an abrasion resistant polymer material.

The self-lubricating polymer material can be selected from polymer materials with low friction coefficient and good self-lubricating performance. For example, the self-lubricating polymeric material may include a material comprising fluorine; preferably, the fluorine-containing material may be fluoride or a fluorine-containing polymer.

The wear-resistant polymer material can be selected from polymer materials with better wear resistance. For example, the sleeve 12 of abrasion resistant polymeric material may be formed of silicone (also known as siloxane), polyurethane, modified silicone, or modified polyurethane.

The material of the sleeve 12 may include any one or more of fluorine-containing material, silicone, modified silicone, polyurethane, modified polyurethane, fluorinated modified silicone. Preferably, the sleeve 12 is made of a polymer material having both good self-lubricating and wear-resistant properties.

It will be appreciated that the self-lubricating polymeric material is not limited thereto. It will be appreciated that the antiwear polymeric material is not limited thereto.

The tendon core body 11 and the sleeve 12 may be of a unitary structure. For example, the tendon core body 11 and the sleeve 12 may be formed as a unitary structure through a molding process. Specifically, the tendon core body 11 and the sleeve 12 may be formed into an integrated structure by a process of mold forming, printing forming, glue filling, gluing, etc. Alternatively, the tendon core body 11 and the sleeve 12 are of a split structure.

Friction may occur between the tendon core body 11 and the sleeve 12 when the tendon is bent. To meet the demanding requirements for tendons in some special operating conditions, further, as shown in fig. 2, there is a first wear layer 13 between the tendon core body 11 and the sleeve 12.

The first wear layer 13 may be formed on the surface of the tendon core body 11; alternatively, the first wear layer 13 is formed on the inner surface of the sleeve 12; alternatively, the first wear layer 13 is formed on both the surface of the tendon core body 11 and the inner surface of the casing 12.

The first wear layer 13 may include any one of a nano-spray coating layer, a plating film layer, and a sedimentation layer. As will be appreciated by those skilled in the art, the material of the first wear layer 13 may be various, for example, the material of the first wear layer 13 may include any one or more of fluorine-containing material, silicone, modified silicone, polyurethane, modified polyurethane, fluorinated modified silicone.

The tendon core body 11 is made of a stretch-resistant material so that the tendon is not stretched during operation. In one embodiment, the tendon core body 11 may be a wire or a polymer material wire.

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

in one particular embodiment, the tendon core body 11 includes an intermediate core 111.

In one particular embodiment, the tendon core body 11 includes a plurality of braided strands 112, and the tendon core body 11 is formed of the plurality of braided strands 112. The plurality of braided wires 112 may be formed of the same material, or the plurality of braided wires 112 may be formed of different materials. Preferably, the braided wire 112 is formed of a polymer material.

In one embodiment, as shown in fig. 3, the tendon core body 11 includes a middle core material 111 and a plurality of strands of braided wire 112 wound around the middle core material 111.

When the tendon core body 11 includes the intermediate core 111 and the plurality of braided wires 112 wound around the intermediate core 111, there is internal friction between the intermediate core 111 and the plurality of braided wires 112 wound around the intermediate core 111. Further, the tendon core body 11 includes a second abrasion-resistant layer 113 between the intermediate core material 111 and the multi-strand braided wire 112.

The second abrasion resistant layer 113 may be formed on the surface of the intermediate core material 111, and/or the second abrasion resistant layer 113 may be formed on the surface of the multi-strand braided wire 112.

The second abrasion resistant layer 113 may include any one of a nano-spray coating layer, a plating film layer, and a sedimentation layer. As will be appreciated by those skilled in the art, the material of the second wear layer 113 may be various, for example, the material of the second wear layer 113 may include any one or more of fluorine-containing material, silicone, modified silicone, polyurethane, modified polyurethane, fluorinated modified silicone.

In one embodiment, at least one end of the tendon core body 11 is exposed from the sleeve 12. In one aspect, the ends of the tendons are advantageously fixedly attached to other components. On the other hand, it is advantageous to precisely control the length of the tendon when it is wound on a capstan or pulley. Preferably, both ends of the tendon core body 11 are exposed from the sleeve 12.

In order to fix the position of the sleeve 12 on the tendon core main body 11 relatively, so as to avoid the relative sliding between the sleeve 12 and the tendon core main body 11 due to stress in the tendon transmission process, in one embodiment, the sleeve 12 is a heat-shrinkable tube, and the sleeve 12 is sleeved on the tendon core main body 11 and is fixed relatively to the position of the tendon core main body 11 after heat shrinkage due to the heat shrinkage effect.

In another embodiment, the two ends of the sleeve 12 and the tendon core body 11 may be fixed together by a fixing structure (not shown); alternatively, the two ends of the sleeve 12 are fixed to the tendon core body 11 by means of adhesion.

Embodiments of the present application also provide a tendon transmission assembly including a tendon sheath and a tendon as described above. The tendon is slidably disposed in the tendon sheath.

The embodiment of the application also provides a robot which comprises a plurality of joints, tendon sheaths and tendons. One end of the tendon may be linked with an output end of the actuator, the other end of the tendon may be connected with a rotating end of the joint, the tendon may pass through the tendon sheath, and the tendon may be slidably disposed in the tendon sheath.

The beneficial effects of this application lie in:

according to the tendon core protection sleeve, the sleeve formed by the self-lubricating material is arranged on the tendon, the tendon core body can be protected by sleeving the sleeve on the tendon core body, the sleeve can be a self-lubricating sleeve or a wear-resistant sleeve, friction or abrasion between the tendon and the tendon sheath is reduced, and the tendon core protection sleeve is favorable for improving the reliability and service life of the tendon.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims

1. A tendon, comprising a tendon core body and a sleeve.

2. A tendon as claimed in claim 1 in which the position of said sleeve on said tendon core body is relatively fixed.

3. A tendon as claimed in claim 1 in which the material of said sleeve includes a polymeric material.

4. A tendon as claimed in claim 1 in which there is a first wear layer between the tendon core body and the sleeve;

the first wear layer is formed on the tendon core body surface and/or the first wear layer is formed on the inner surface of the sleeve.

5. A tendon as claimed in claim 1 wherein said tendon core body includes any one of the following:

the tendon core body comprises an intermediate core material;

the tendon core main body comprises a plurality of strands of braided wires;

6. A tendon as claimed in claim 5 in which said tendon core body includes a second abrasion resistant layer between said intermediate core and said plurality of strands of braided wire;

the second abrasion-resistant layer is formed on the surface of the intermediate core material, and/or the second abrasion-resistant layer is formed on the surface of the multi-strand braided wire.

7. A tendon as claimed in claim 1 in which said tendon core body and said sleeve are of unitary construction; alternatively, the tendon core body and the sleeve are of a split structure.

8. A tendon as claimed in claim 1, in which the sleeve is a heat-shrinkable tube, the sleeve being fitted over the tendon core body and being fixed in position relative to the tendon core body after heat shrinkage; and/or the two ends of the sleeve are fixed with the tendon core main body.

9. A tendon transmission assembly comprising a tendon sheath and a tendon as claimed in any one of claims 1 to 8; the tendon is slidably disposed in the tendon sheath.

10. A robot comprising a plurality of joints, tendon sheaths and tendons as claimed in any one of claims 1 to 8;

the tendon is connected to the rotational end of the joint, and the tendon passes through the tendon sheath.