WO2022228584A1

WO2022228584A1 - Tendon transmission assembly

Info

Publication number: WO2022228584A1
Application number: PCT/CN2022/094976
Authority: WO
Inventors: 任化龙; 李文强
Original assignee: 深圳忆海原识科技有限公司
Priority date: 2021-04-28
Filing date: 2022-05-25
Publication date: 2022-11-03
Also published as: CN113021325A

Abstract

A tendon transmission assembly, comprising a tendon (1), a tendon sheath unit, and a fixing element (4). The tendon (1) may be made from a multi-strand braided wire, and part or all of the surface of the tendon may be coated with an anti-abrasion layer. The sheath unit may be provided with a protective layer sub-sheath (3), an anti-tensile layer sub-sheath (5), and an anti-extrusion layer sub-sheath. The fixing element (4) may be provided with a flange (42) or a groove (44) for securely and fixedly connecting to an outer member. The components are made with suitable materials and processes. The present solution enables the tendon transmission assembly to be adequate for operating in situations requiring reliability.

Description

tendon drive assembly

This application claims the priority of the Chinese Patent Application No. 202110468020.1 filed with the Chinese Patent Office on April 28, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application belongs to the field of transmission devices for robots, and in particular relates to tendon transmission assemblies.

Background technique

Tendon drives are very suitable for use in robotics, especially in the transmission of dexterous hands. At present, the tendon and tendon sheath in the tendon transmission device are prone to friction loss, and the fixed connection position of the tendon sheath and the external mechanism is easy to loosen, which is difficult to be used in the occasions requiring reliable operation.

technical problem

To solve the above problems, the present application proposes a tendon drive assembly.

technical solutions

In order to achieve the above object, the application adopts the following technical solutions:

Tendon transmission assembly, including: tendon, tendon sheath unit, fixing element;

The tendon sheath unit includes one or more layers of sub-tendon sheaths;

the fixation element has a mechanical interface for securing the tendon sheath unit to other components;

the fixing element is fixedly connected to the tendon sheath unit;

The tendon slides in the tendon sheath unit in the axial direction of the tendon sheath unit.

For example, in the application of this tendon transmission assembly, any point of the tendon is fixedly connected with the output end of the driver or the capstan, and any other point on the tendon is fixedly connected with the rotating end of the driven robot joint, so as to drive the drive of the driver. The force is transmitted to the joint; one end of the tendon sheath unit is fixedly connected with the joint seat of the driven robot joint through the fixing element, and the other end is fixedly connected with other parts of the robot through the fixing element.

Optionally, the tendon includes multiple braided wires; the multiple braided wires make the tendon less susceptible to complete failure by abrasion.

Optionally, the tendon includes an intermediate core material; the intermediate core material ensures that the tendon cannot be stretched, and a metal wire or a carbon wire can be used, which is surrounded by a multi-strand braided wire in the center of the axis.

Optionally, glue is mixed between the strands of the tendon and/or the middle core material to prevent the strands from being opened.

Optionally, part or all of the surface of the tendon has an I-type anti-wear layer; the I-type anti-wear layer can form a self-lubricating layer through nano-spraying, coating, coating, sedimentation and other processes, and the material can be selected from fluoropolymer. . Through a similar process, anti-oil, anti-salt and other coatings can also be added.

Optionally, the tendon sheath unit includes a protective layer sub-tendon sheath; the protective layer sub-tendon sheath may be a heat shrinkable tube, a PVC tube, a rubber material, a silicone material, or a silicone rubber material.

Optionally, the tendon sheath unit includes an anti-extrusion layer sub-tendon sheath; the anti-extrusion layer sub-tendon sheath can be made of a spring tube or a metal wire braided material.

Optionally, the tendon sheath unit includes a tensile-stretched sub-tendon sheath; the tensile-stretched sub-tendon sheath can be made of Kevlar braided material.

Optionally, part or all of the surface of the tendon sheath unit has a type II anti-wear layer; the type II anti-wear layer can form a self-lubricating layer through nano-spraying, coating, coating, sedimentation and other processes, and the material can be selected from fluoropolymer. thing. Through a similar process, anti-oil, anti-salt, anti-rust and other coatings can also be added.

Optionally, a lubricating layer is covered between the tendon and the tendon sheath unit. For example, a lubricant is used between the tendon and the tendon sheath unit to form a lubricating layer.

Optionally, a through hole is provided in the middle of the fixing element, the outer periphery of the through hole constitutes a neck, the neck is embedded at the interface of the tendon sheath unit or radially outsourced to the tendon sheath unit, and the neck is provided with a mechanical interface;

The mechanical interface is a flange extending outward along the circumference of the neck and/or grooves and/or holes and/or threaded holes provided on the outside of the neck.

For example, the fixation element is a hollow tubular structure; one end of the fixation element has flanges and/or grooves and/or holes and/or threads as a mechanical interface for securing the tendon sheath to other components.

Optionally, a processing technique is to fix the fixing element to the tendon sheath unit by pressing the neck of the fixing element.

Optionally, at least two of the sub tendon sheaths and the fixation element are glued.

beneficial effect

The beneficial effects of the present application are as follows: the present application discloses a tendon transmission assembly, which solves the problems that the tendon and the tendon sheath in the current tendon transmission device are prone to friction loss, and the fixed position of the tendon sheath and the external mechanism is easily loosened. Able to adapt to situations where reliable operation is required.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only It is an embodiment of the present application. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without any creative effort.

1 is a schematic cross-sectional structure diagram of a tendon drive assembly provided by the application;

2 is a schematic cross-sectional structure diagram of the tendon transmission assembly provided by the application with a tensile-stretched sub-tendon sheath;

3 is a schematic diagram of a fixing element of the tendon transmission assembly in the embodiment of the application;

4 is a schematic diagram of a fixing element with a threaded hole of the tendon drive assembly in the embodiment of the application;

FIG. 5 is a schematic diagram of the fixing element with grooves of the tendon transmission assembly in the embodiment of the present application.

Reference number:

1-tendon; 2-extruded lamina tendon sheath; 3-protective lamina tendon sheath; 4-fixture; 41-neck; 42-flange; 43-threaded hole; 44-groove; 5-tensile stretch layer Tendon sheath.

Embodiments of the present invention

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

Referring to FIG. 1 , an embodiment of the present application discloses a tendon transmission assembly, including: a tendon 1 , a tendon sheath unit, and a fixing element 4 ;

The tendon sheath unit includes one or more layers of sub-tendon sheaths (see 2 and 3 in FIG. 1 , or 2, 3, and 5 in FIG. 2 );

The fixation element 4 has a mechanical interface for securing the tendon sheath unit to other components (see flange 42 in Figures 1, 2, 3, or threaded hole 43 in Figure 4, or groove in Figure 5). 44);

The fixing element 4 is fixed to the tendon sheath unit (by pressing the neck 41 of the fixing element 4);

The tendon 1 slides in the tendon sheath unit in the axial direction of the tendon sheath unit.

In this embodiment, the fixing member 4 can be installed at both ends of the tendon sheath unit and at any position in the middle.

In this embodiment, at least any point of the tendon 1 is fixedly connected with the output end of the driver or the winch, and any other point on the tendon 1 is fixedly connected with the rotating end of the driven robot joint to transmit the driving force of the driver. to the joints.

One end of the tendon sheath unit is fixedly connected with the joint seat of the driven robot joint through the fixing element, and the other end is fixedly connected with other parts of the robot through the fixing element 4 .

Optionally, the tendon 1 includes a multi-strand braided wire; the multi-strand braided wire can make the tendon 1 less prone to complete failure due to wear.

Optionally, the tendon 1 includes an intermediate core material; the intermediate core material ensures that the tendon 1 cannot be stretched, and a metal wire or a carbon wire can be used, surrounded by multiple braided wires in the center of the axis.

Optionally, glue is mixed between each strand of the tendon 1 and/or the middle core material to prevent the strands from being opened.

Optionally, part or all of the surface of the tendon 1 has an I-type anti-wear layer; the I-type anti-wear layer can be formed by nano-spraying, coating, coating, sedimentation and other processes.

Optionally, the tendon sheath unit includes a protective layer sub-tendon sheath 3; the protective layer sub-tendon sheath can be a heat shrinkable tube, a PVC tube, a rubber material, a silicone material, or a silicone rubber material.

Optionally, the tendon sheath unit includes an anti-extrusion layer sub-tendon sheath 2; the anti-extrusion layer sub-tendon sheath can be made of a spring tube or a metal wire braided material.

Referring to FIG. 2 , optionally, the tendon sheath unit includes a tensile-stretching sub-tendon sheath 5; the tensile-stretching sub-tendon sheath 5 can be made of Kevlar braided material. The tensile-stretching sub-tendon sheath 5 can be arranged between the anti-extrusion sub-tendon sheath 2 and the protective layer sub-tendon sheath 3 .

Optionally, part or all of the surface of the tendon sheath unit has a type II anti-wear layer; the type II anti-wear layer can be formed by nano-spraying, coating, coating, sedimentation and other processes.

Optionally, lubricant is used between the tendon 1 and the tendon sheath unit.

Said fixing element 4 has a flange 42 (see FIG. 3 ) and/or a groove 44 (see FIG. 5 ) and/or a threaded hole 43 (see FIG. 4 ) as a mechanism for securing the tendon sheath to other components interface. For example, the flange 42 can be used to clamp the outer member to form a fixation, and the circular end face of the flange 42 can also be used for axial fastening.

Referring to FIG. 3 , the fixing element 4 has a neck 41 , and the fixing element 4 is fastened to the tendon sheath unit by pressing the neck 41 with a tool. The protective layer tendon sheath 3 (ie, a heat shrinkable tube) can also be sheathed on the neck 41 of the fixing element 4 .

The sub-tendon sheath 3 of the protective layer and the sub-tendon sheath 5 of the anti-stretch layer can be glued, and the sub-tendon sheath 3 of the protective layer and the fixing element 4 can be glued.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, this application 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

The tendon transmission assembly is characterized in that it includes: tendon, tendon sheath unit, and fixing element;

The tendon sheath unit includes one or more layers of sub-tendon sheaths;

the fixation element has a mechanical interface for securing the tendon sheath unit to other components;

The tendon slides in the tendon sheath unit in the axial direction of the tendon sheath unit.
The tendon drive assembly of claim 1, wherein the tendon comprises at least one of a multi-strand braided wire and an intermediate core material.
The tendon transmission assembly according to claim 2, wherein glue is mixed between each strand of the braided wire and/or the intermediate core material.
The tendon drive assembly according to any one of claims 1 to 3, wherein part or all of the surface of the tendon is coated with an I-type anti-wear layer.
The tendon transmission assembly of claim 1, wherein the tendon sheath unit comprises a protective layer sub-tendon sheath.
The tendon transmission assembly of claim 1, wherein the tendon sheath unit comprises an anti-extrusion layer sub-tendon sheath.
The tendon transmission assembly according to claim 1, wherein the tendon sheath unit comprises a tensile-stretched sub-tendon sheath.
The tendon transmission assembly according to claim 1, wherein part or all of the surface of the tendon sheath unit is coated with a type II anti-wear layer.
The tendon transmission assembly according to claim 1, wherein a lubricating layer is covered between the tendon and the tendon sheath unit.
The tendon transmission assembly according to claim 1, wherein a through hole is provided in the middle of the fixing element, the outer circumference of the through hole constitutes a neck, and the neck is embedded in the interface of the tendon sheath unit or radially outside the the tendon sheath unit, the neck is provided with the mechanical interface;

The mechanical interface is a flange extending outward along the circumference of the neck and/or grooves and/or holes and/or threads provided on the outside of the neck.
The tendon drive assembly according to claim 1 or claim 10, wherein the fixing element is fastened to the tendon sheath unit by pressing the neck of the fixing element.
The tendon transmission assembly according to claim 1 or claims 5, 6, 7, and 10, wherein at least two of the sub-tendon sheaths and the fixing element are glued.