Rope-driven mechanical arm variable-rigidity joint module with position rigidity decoupling function

Abstract

The invention relates to a position rigidity decoupling rope-driven mechanical arm variable-rigidity joint module. The position rigidity decoupling rope-driven mechanical arm variable-rigidity joint module comprises a joint angle input module, a position rigidity decoupling module and a position rigidity decoupling module, one side of the rigidity adjusting module is connected with the joint angle input module; the rigidity adjusting input module is arranged on the other side of the rigidity adjusting module, and the output of the rigidity adjusting input module is connected with the rigidity adjusting module; and the output module comprises an output gear, and the output module is connected with the joint angle input module through the output gear. The joint rigidity change is irrelevant to the joint angle change, joint position rigidity decoupling is achieved, and independent control over the joint rigidity is facilitated.

Description

Technical Field

[0001] The invention relates to the field of mechanical arms, and in particular to a variable stiffness joint module of a rope-driven mechanical arm with position stiffness decoupling. Background Art

[0002] With the continuous development of robotics technology, adaptable, flexible and compliant manipulators are becoming more and more important. Traditional industrial manipulators are difficult to apply in unstructured environments due to their large mass inertia and joint stiffness. To solve the above problems, rope-driven manipulators and flexible joint technology have been hot research topics in recent years. Variable stiffness joints are an important part of flexible joint technology. They can improve the system's compliance and adaptability in unstructured environments, thereby improving the flexibility and safety performance of the manipulator system. Summary of the invention

[0003] The present invention provides a position-stiffness decoupled rope-driven manipulator variable-stiffness joint module, aiming to solve at least one of the technical problems existing in the prior art.

[0004] The technical solution of the present invention is a position-stiffness decoupled rope-driven manipulator variable stiffness joint module, comprising: Joint angle input module; A stiffness adjustment module, one side of which is connected to the joint angle input module; A stiffness adjustment input module, wherein the stiffness adjustment input module is arranged on the other side of the stiffness adjustment module, and an output of the stiffness adjustment input module is connected to the stiffness adjustment module; An output module, wherein the output module comprises an output gear, and the output module is connected to the joint angle input module via the output gear.

[0005] Furthermore, the joint angle input module includes a joint motor, a joint input shaft and a joint input disk which are connected in sequence, and the joint input shaft and the joint input disk are connected by bolts. Wherein, the axis of the joint input shaft, the axis of the joint input disc, the axis of the joint motor and the axis of the stiffness adjustment motor of the stiffness adjustment module are collinear; The joint angle input module further includes a first moving part and a second moving part disposed between the joint input shaft and the joint input disk.

[0006] Further, the first moving part includes a first slide rail mounting frame, a first slide rail, a clockwise input link, a first rack, a first roller mounting seat and a first roller which are connected in sequence. The joint input disk is connected to the first slide rail mounting frame by bolts, the first slide rail mounting frame is connected to the first slide rail by slide rails, the first slide rail is connected to the clockwise input link by bolts, and the clockwise input link slides relatively with the first slide rail mounting frame; the first rack is connected to the clockwise input link by bolts, the first roller mounting seat is connected to the clockwise input link by bolts, and the first roller is connected to the first roller mounting seat by plug bolts; The second moving part includes a second slide rail mounting frame, a second slide rail, a counterclockwise input link, a second rack, a second roller mounting seat and a second roller which are connected in sequence. Among them, the second slide rail mounting frame is connected to the second slide rail through the slide rail, the second slide rail is connected to the counterclockwise input link through bolts, and the counterclockwise input link and the second slide rail mounting frame slide relatively; the second rack is connected to the counterclockwise input link through bolts, the second roller mounting seat is connected to the counterclockwise input link through bolts, and the second roller is connected to the second roller mounting seat through plug bolts; the first rack and the second rack are respectively meshed with the output gear of the output module.

[0007] Furthermore, the stiffness adjustment module includes a stiffness adjustment motor, a clockwise motion part, a counterclockwise motion part, a central frame, a spring and a limit ring, wherein: The central frame is connected to the joint input shaft through a sliding sleeve, the axis of the spring, the axis of the limit retaining ring and the axis of the joint input shaft are colinear, and the two ends of the spring are respectively fixed to the central frame and the limit retaining ring; The clockwise motion part comprises a clockwise input pressure plate, a clockwise input pressure plate link and a clockwise input turbine which are connected in sequence, the clockwise input pressure plate and the clockwise input pressure plate link are connected by countersunk bolts, the clockwise input pressure plate link is connected to the central frame by a flange bearing, the clockwise input pressure plate and the clockwise input turbine rotate synchronously and are tangent to the first roller in the entire stroke of the clockwise input pressure plate, The counterclockwise motion part includes a counterclockwise input pressure plate, a counterclockwise input pressure plate link and a counterclockwise input turbine which are connected in sequence, the counterclockwise input pressure plate and the counterclockwise input pressure plate link are connected by countersunk bolts, the counterclockwise input pressure plate link is connected to the central skeleton by a flange bearing, the counterclockwise input pressure plate and the counterclockwise input turbine rotate synchronously and are tangent to the second roller throughout the entire stroke of the counterclockwise input pressure plate.

[0008] Furthermore, the clockwise input pressure plate link is coaxial with and directly connected to the clockwise input turbine, and the counterclockwise input pressure plate link is coaxial with and directly connected to the counterclockwise input turbine; the clockwise input turbine and the counterclockwise input turbine rotate synchronously and in opposite directions under the drive of the worm of the stiffness adjustment input module.

[0009] Furthermore, the stiffness adjustment module also includes an encoder, a joint motor flange and an input shaft flange, the joint motor is mounted on the joint motor flange by bolts, the joint motor flange and the input shaft flange are connected by bolts, and the encoder magnetic ring is mounted on the joint input shaft by a top screw.

[0010] Further, the stiffness adjustment input module includes a stiffness adjustment motor flange, a stiffness adjustment motor output gear, a D-type shaft input gear, a worm D-type shaft, a worm and a D-type shaft sleeve, The stiffness adjustment motor flange is connected to the stiffness adjustment motor of the stiffness adjustment module by bolts, the stiffness adjustment motor flange is connected to the stiffness adjustment motor output gear by top screws, the stiffness adjustment motor output gear is connected to the joint input shaft of the joint angle input module by a bearing, and the D-type shaft input gear is installed on the joint input disk of the joint angle input module by a flange bearing; The D-type shaft input gear, the worm D-type shaft, the worm and the D-type shaft sleeve are stacked and installed, the lower end of the worm D-type shaft is a round shaft, the worm D-type shaft is connected to the D-type shaft sleeve through a bearing, and the axis of the worm is matched with the clockwise input turbine and the counterclockwise input turbine of the stiffness adjustment module; A D-shaped hole is arranged in the middle of the worm, and the worm D-shaped shaft passes through the D-shaped hole of the worm.

[0011] Furthermore, the output module includes an output gear and an output housing, and the output gear is connected to the output housing by bolts; the output housing is also provided with mounting holes for mounting the output disk for torque output and a groove for calibrating the output of the winding wheel at the base end of the rope-driven robot arm.

[0012] Furthermore, it also includes a base module, wherein the base module includes a stiffness adjustment motor mounting base connected to the stiffness adjustment module and a joint motor mounting base connected to the joint angle input module; The stiffness adjustment motor of the stiffness adjustment module is mounted on the stiffness adjustment motor mounting base through bolts, and the input shaft flange of the stiffness adjustment module is mounted on the joint motor mounting base through a deep groove ball bearing.

[0013] Furthermore, the present invention also proposes a robotic arm, comprising the position-stiffness-decoupled rope-driven robotic arm variable-stiffness joint module.

[0014] The beneficial effects of the present invention are: The variable stiffness joint module of the rope-driven manipulator with position stiffness decoupling changes the transmission ratio between the elastic force and the output torque by changing the inclination angle of the inclined plane through the wedge mechanism and the cooperation between the inclined plane and the roller. The transmission mode of the worm gear as the stiffness adjustment has the advantages of compact structure, fast response, self-locking ability, etc.; the transmission mode of the wedge mechanism and the gear rack can make the change of joint stiffness independent of the change of joint angle, realize the decoupling of joint position stiffness, and facilitate independent control of joint stiffness; the offset arrangement mode of the stiffness adjustment shaft realizes the coaxiality of the stiffness adjustment motor and the joint angle motor, thereby realizing the input decoupling of the two, thereby reducing the rotational inertia of the joint, and realizing modular design, that is, the variable stiffness joint module can be directly installed on the rear motor end of the rope-driven manipulator, which can reduce the mass and rotational inertia of the arm of the rope-driven manipulator; the theoretical range of the inclined plane stroke is 0° to 84°, which can realize the stiffness change range from 0 to 1400N·m / rad, realizing a larger variable stiffness range. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The overall structure diagram of the variable stiffness joint module of the rope-driven robot arm with position stiffness decoupling.

[0016] Figure 2 Structural diagram of the variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling without the outer shell.

[0017] Figure 3 Structural diagram of the joint angle input module and stiffness adjustment module in the variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling.

[0018] Figure 4 Structural diagram of the stiffness adjustment input module in the variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling.

[0019] Reference numerals: 100, joint angle input module; 110, joint motor; 120, joint input shaft; 130, joint input disk; 140, first moving part; 141, first slide rail mounting frame; 142, first slide rail; 143, clockwise input link; 144, first rack; 145, first roller mounting seat; 146, first roller; 150, second moving part; 151, second slide rail mounting frame; 152, second slide rail; 153, counterclockwise input link; 154, second rack; 155, second roller mounting seat; 156, second roller; 200, stiffness adjustment module; 210, stiffness adjustment motor; 220, clockwise motion part; 221, clockwise input pressure plate; 222, clockwise input pressure plate link; 223, clockwise input turbine; 230, counterclockwise motion part; 231, counterclockwise input pressure plate; 232, counterclockwise input pressure plate link; 233, counterclockwise input turbine; 240, encoder; 250, joint motor flange; 260, input shaft flange; 270. Center frame; 280. Spring; 290. Limiting ring; 300. Stiffness adjustment input module; 310. Stiffness adjustment motor flange; 320. Stiffness adjustment motor output gear; 330. D-type shaft input gear; 340. Worm D-type shaft; 350. Worm; 360. D-type shaft sleeve; 400. Output module; 410. Output gear; 500. Base module; 510. Stiffness adjustment motor mounting base; 520. Joint motor mounting base. DETAILED DESCRIPTION

[0020] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0021] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature, or it may be indirectly fixed or connected to the other feature. In addition, the descriptions of up, down, left, right, top, bottom, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the drawings.

[0022] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and / or" used herein includes any combination of one or more related listed items.

[0023] It should be understood that, although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0024] Reference Figures 1 to 4 In some embodiments, the technical solution of the present invention is a variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling, referring to Figure 1 The position-stiffness-decoupled rope-driven manipulator variable-stiffness joint module comprises: Joint angle input module 100; A stiffness adjustment module 200, one side of which is connected to the joint angle input module 100; A stiffness adjustment input module 300, wherein the stiffness adjustment input module 300 is disposed on the other side of the stiffness adjustment module 200, and an output of the stiffness adjustment input module 300 is connected to the stiffness adjustment module 200; The output module 400 includes an output gear 410 , and the output module 400 is connected to the joint angle input module 100 via the output gear 410 .

[0025] The beneficial effects of the present invention are: The variable stiffness joint module of the rope-driven manipulator with position stiffness decoupling changes the transmission ratio between the elastic force and the output torque by changing the inclination angle of the inclined plane through the wedge mechanism and the cooperation between the inclined plane and the roller. The worm gear 350 is used as the transmission mode for stiffness adjustment, which has the advantages of compact structure, fast response, self-locking ability, etc.; through the transmission mode of the wedge mechanism and the gear rack, the change of joint stiffness can be theoretically made independent of the change of joint angle, and the joint position stiffness is decoupled, which is convenient for independent control of joint stiffness; by arranging the stiffness adjustment axis in an offset manner, the stiffness adjustment motor 210 is coaxial with the joint angle motor, thereby realizing input decoupling of the two, thereby reducing the rotational inertia of the joint, and realizing modular design, that is, the variable stiffness joint module can be directly installed on the rear motor end of the rope-driven manipulator, which can reduce the mass and rotational inertia of the arm of the rope-driven manipulator; the theoretical range of the inclined plane stroke is 0° to 84°, and the stiffness change range can be from 0 to 1400N·m / rad, realizing a larger variable stiffness range.

[0026] Specifically, the joint angle input module 100 is installed at the center of the position-stiffness-decoupled rope-driven manipulator variable-stiffness joint module.

[0027] Further, refer to Figures 1 to 3The joint angle input module 100 includes a joint motor 110, a joint input shaft 120 and a joint input disk 130 which are connected in sequence. The joint input shaft 120 and the joint input disk 130 are connected by bolts. Wherein, the axis of the joint input shaft 120 , the axis of the joint input disc 130 , the axis of the joint motor 110 , and the axis of the stiffness adjustment motor 210 of the stiffness adjustment module 200 are collinear; The joint angle input module 100 further includes a first moving portion 140 and a second moving portion 150 disposed between the joint input shaft 120 and the joint input disk 130 .

[0028] Further, refer to Figure 2 The first moving part 140 includes a first slide rail mounting frame 141, a first slide rail 142, a clockwise input link 143, a first rack 144, a first roller mounting seat 145 and a first roller 146 which are connected in sequence. The joint input disk 130 is connected to the first slide rail mounting frame 141 by bolts, the first slide rail mounting frame 141 is connected to the first slide rail 142 by slide rails, the first slide rail 142 is connected to the clockwise input link 143 by bolts, and the clockwise input link 143 slides relatively with the first slide rail mounting frame 141; the first rack 144 is connected to the clockwise input link 143 by bolts, the first roller mounting seat 145 is connected to the clockwise input link 143 by bolts, and the first roller 146 is connected to the first roller mounting seat 145 by plug bolts; The second moving part 150 includes a second slide rail mounting frame 151, a second slide rail 152, a counterclockwise input link 153, a second rack 154, a second roller mounting seat 155 and a second roller 156 which are connected in sequence. Among them, the second slide rail mounting frame 151 is connected to the second slide rail 152 through a slide rail, the second slide rail 152 is connected to the counterclockwise input link 153 through bolts, and the counterclockwise input link 153 slides relatively with the second slide rail mounting frame 151; the second rack 154 is connected to the counterclockwise input link 153 through bolts, the second roller mounting seat 155 is connected to the counterclockwise input link 153 through bolts, and the second roller 156 is connected to the second roller mounting seat 155 through plug bolts; the first rack 144 and the second rack 154 are respectively meshed with the output gear 410 of the output module 400.

[0029] Further, refer to Figure 3The stiffness adjustment module 200 includes a stiffness adjustment motor 210, a clockwise motion part 220, a counterclockwise motion part 230, a central frame 270, a spring 280 and a limit ring 290, wherein: The central frame 270 is connected to the joint input shaft 120 through a sliding sleeve, the axis of the spring 280 and the axis of the limit ring 290 are colinear with the axis of the joint input shaft 120, and the two ends of the spring 280 are fixed to the central frame 270 and the limit ring 290 respectively; The clockwise motion part 220 includes a clockwise input pressure plate 221, a clockwise input pressure plate link 222 and a clockwise input turbine 223 which are connected in sequence. The clockwise input pressure plate 221 is connected to the clockwise input pressure plate link 222 by countersunk bolts. The clockwise input pressure plate link 222 is connected to the central skeleton 270 by flange bearings. The clockwise input pressure plate 221 rotates synchronously with the clockwise input turbine 223 and is tangent to the first roller 146 in the entire stroke of the clockwise input pressure plate 221. The counterclockwise motion part 230 includes a counterclockwise input pressure plate 231, a counterclockwise input pressure plate link 232 and a counterclockwise input turbine 233 which are connected in sequence. The counterclockwise input pressure plate 231 is connected to the counterclockwise input pressure plate link 232 by countersunk bolts. The counterclockwise input pressure plate link 232 is connected to the central skeleton 270 by flange bearings. The counterclockwise input pressure plate 231 rotates synchronously with the counterclockwise input turbine 233 and is tangent to the second roller 156 in the entire stroke of the counterclockwise input pressure plate 231. Further, refer to Figure 1 The clockwise input pressure plate link 222 is coaxial with the clockwise input turbine 223 and is directly connected, and the counterclockwise input pressure plate link 232 is coaxial with the counterclockwise input turbine 233 and is directly connected; the clockwise input turbine 223 and the counterclockwise input turbine 233 rotate synchronously and in opposite directions under the drive of the worm 350 of the stiffness adjustment input module 300.

[0030] Specifically, the central skeleton 270 slides freely on the joint input shaft 120, the clockwise input turbine 223 is connected to the central skeleton 270 through bearings, bolts and gaskets, and the counterclockwise input turbine 233 is connected to the central skeleton 270 through bearings, bolts and gaskets.

[0031] Further, refer to Figure 1The stiffness adjustment module 200 also includes an encoder 240, a joint motor flange 250 and an input shaft flange 260. The joint motor 110 is installed on the joint motor flange 250 by bolts, the joint motor flange 250 is connected to the input shaft flange 260 by bolts, and the encoder 240 magnetic ring is installed on the joint input shaft 120 by a top screw.

[0032] Further, refer to Figure 4 The stiffness adjustment input module 300 includes a stiffness adjustment motor flange 310, a stiffness adjustment motor output gear 320, a D-type shaft input gear 330, a worm D-type shaft 340, a worm 350 and a D-type shaft sleeve 360. The stiffness adjustment motor flange 310 is connected to the stiffness adjustment motor 210 of the stiffness adjustment module 200 by bolts, the stiffness adjustment motor flange 310 is connected to the stiffness adjustment motor output gear 320 by top screws, the stiffness adjustment motor output gear 320 is connected to the joint input shaft 120 of the joint angle input module 100 by bearings, and the D-type shaft input gear 330 is installed on the joint input disk 130 of the joint angle input module 100 by flange bearings; The D-type shaft input gear 330, the worm D-type shaft 340, the worm 350 and the D-type shaft sleeve 360 ​​are stacked and installed, the lower end of the worm D-type shaft 340 is a round shaft, the worm D-type shaft 340 is connected to the D-type shaft sleeve 360 ​​through a bearing, and the axis of the worm 350 cooperates with the clockwise input turbine 223 and the counterclockwise input turbine 233 of the stiffness adjustment module 200; A D-shaped hole is disposed in the middle of the worm 350 , and the worm D-shaped shaft 340 passes through the D-shaped hole of the worm 350 .

[0033] Specifically, the D-shaped shaft end of the worm 350 slides freely on the worm D-shaped shaft 340 and is stacked; the axis of the worm 350 cooperates with the clockwise input turbine 223 and the counterclockwise input turbine 233 of the stiffness adjustment module 200 at the same time, wherein the center distance is 17 mm; and the worm 350 can slide freely on the worm D-shaped shaft 340.

[0034] Further, refer to Figure 1 and Figure 4 The output module 400 includes an output gear 410 and an output housing, and the output gear 410 is connected to the output housing by bolts; the output housing is also provided with mounting holes for mounting an output disk for torque output and a groove for calibrating the output of the winding wheel at the base end of the rope-driven robot arm.

[0035] Further, refer to Figure 1, further comprising a base module 500, wherein the base module 500 comprises a stiffness adjustment motor mounting base 510 connected to the stiffness adjustment module 200 and a joint motor 110 mounting base connected to the joint angle input module 100; The stiffness adjustment motor 210 of the stiffness adjustment module 200 is mounted on the stiffness adjustment motor mounting base 510 by means of bolts, and the input shaft flange 260 of the stiffness adjustment module 200 is mounted on the joint motor 110 mounting base by means of a deep groove ball bearing.

[0036] Specifically, the stiffness adjustment motor mounting base 510 and the joint motor mounting base 520 are respectively mounted on the optical platform by bolts, and the encoder 240 of the stiffness adjustment module 200 is mounted on the joint motor mounting base 520 by bolts.

[0037] Reference Figure 3 The variable stiffness principle of the stiffness adjustment module 200 is: the clockwise input turbine 223 and the counterclockwise input turbine 233 are driven to rotate simultaneously and in opposite directions by the worm 350, and the inclination angles of the clockwise input pressure plate 221 and the counterclockwise input pressure plate 231 are changed at the same time, so that the torques generated by the two pressure plates in the horizontal direction offset each other, and the transmission ratio between the elastic force and the output torque is changed in the vertical direction to achieve the purpose of variable stiffness. The worm 350 is used as the transmission method for stiffness adjustment, which has the advantages of compact structure, fast response, and self-locking ability.

[0038] refer to Figure 2 and Figure 3 , rack horizontal movement distance ,in is the pitch circle radius of the output gear 410, is the vertical movement distance of the central skeleton 270, is the inclination angle of the clockwise input pressing plate 221 and the counterclockwise input pressing plate 231, is the joint deflection angle; the horizontal component of the pressure generated by the clockwise input pressure plate 221 and the counterclockwise input pressure plate 231 is ,in is the stiffness of the spring 280, and the total torque of the external force equivalent to the output gear 410 is , then the inclination angles of the clockwise input pressure plate 221 and the counterclockwise input pressure plate 231 are The corresponding system stiffness is The total torque of the external force Joint deflection angle The differential of , it can be seen that the system stiffness Joint deflection angle It is independent of the change of joint stiffness and the change of joint angle, thus realizing the decoupling of joint position stiffness.

[0039] In a specific embodiment, the stiffness adjustment motor mounting base 510 and the joint motor 110 mounting base can be removed, and the joint is fixed to the base end of the rope-driven robot arm through the flange of the joint motor 110, and is directly installed above the rope-driven robot arm motor. The stiffness adjustment motor 210 is stacked above the joint module, and the groove engraved on the output housing is directly used as the winding end output.

[0040] In some embodiments, it also includes a first servo motor and a second servo motor, and the first servo motor and the second servo motor are arranged at the rear end of the joint, such as installed on the arm rod of the robot joint, to reduce the mass and inertia of the end joint of the robot arm.

[0041] Furthermore, the present invention also proposes a robotic arm, comprising the position-stiffness-decoupled rope-driven robotic arm variable-stiffness joint module.

[0042] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of protection of the present disclosure. All should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling, characterized in that: include: Joint Angle Input Module (100); A stiffness adjustment module (200), one side of the stiffness adjustment module (200) being connected to the joint angle input module (100); a stiffness adjustment input module (300), the stiffness adjustment input module (300) being arranged on the other side of the stiffness adjustment module (200), the output of the stiffness adjustment input module (300) being connected to the stiffness adjustment module (200); An output module (400), the output module (400) comprising an output gear (410), the output module (400) being connected to the joint angle input module (100) via the output gear (410).

2. The position-stiffness-decoupled rope-driven manipulator variable-stiffness joint module according to claim 1, characterized in that: The joint angle input module (100) comprises a joint motor (110), a joint input shaft (120) and a joint input disc (130) which are connected in sequence, wherein the joint input shaft (120) and the joint input disc (130) are connected via bolts. Wherein, the axis of the joint input shaft (120), the axis of the joint input disk (130), the axis of the joint motor (110), and the axis of the stiffness adjustment motor (210) of the stiffness adjustment module (200) are collinear; The joint angle input module (100) further comprises a first moving part (140) and a second moving part (150) which are arranged between the joint input shaft (120) and the joint input disk (130).

3. The position-stiffness-decoupled rope-driven manipulator variable-stiffness joint module according to claim 2, characterized in that: The first moving part (140) comprises a first slide rail mounting frame (141), a first slide rail (142), a clockwise input link (143), a first rack (144), a first roller mounting seat (145), and a first roller (146) which are connected in sequence. The joint input disk (130) is connected to the first slide rail mounting frame (141) by bolts, the first slide rail mounting frame (141) is connected to the first slide rail (142) by slide rails, the first slide rail (142) is connected to the clockwise input link (143) by bolts, and the clockwise input link (143) and the first slide rail mounting frame (141) slide relatively; the first rack (144) is connected to the clockwise input link (143) by bolts, the first roller mounting seat (145) is connected to the clockwise input link (143) by bolts, and the first roller (146) is connected to the first roller mounting seat (145) by plug bolts; The second moving part (150) comprises a second slide rail mounting frame (151), a second slide rail (152), a counterclockwise input link (153), a second rack (154), a second roller mounting seat (155) and a second roller (156) which are connected in sequence. The second slide rail mounting frame (151) is connected to the second slide rail (152) via a slide rail, the second slide rail (152) is connected to the counterclockwise input link (153) via bolts, and the counterclockwise input link (153) and the second slide rail mounting frame (151) slide relatively; the second rack (154) is connected to the counterclockwise input link (153) via bolts, the second roller mounting seat (155) is connected to the counterclockwise input link (153) via bolts, and the second roller (156) is connected to the second roller mounting seat (155) via plug bolts; the first rack (144) and the second rack (154) are respectively meshed with the output gear (410) of the output module (400).

4. The position-stiffness-decoupled rope-driven manipulator variable-stiffness joint module according to claim 1, characterized in that: The stiffness adjustment module (200) comprises a stiffness adjustment motor (210), a clockwise motion part (220), a counterclockwise motion part (230), a central frame (270), a spring (280) and a limit ring (290), wherein: The central frame (270) is connected to the joint input shaft (120) via a sliding sleeve, the axis of the spring (280), the axis of the limit retaining ring (290) and the axis of the joint input shaft (120) are colinear, and the two ends of the spring (280) are respectively fixed to the central frame (270) and the limit retaining ring (290); The clockwise motion part (220) comprises a clockwise input pressure plate (221), a clockwise input pressure plate link (222) and a clockwise input turbine (223) which are connected in sequence, the clockwise input pressure plate (221) and the clockwise input pressure plate link (222) are connected via countersunk bolts, the clockwise input pressure plate link (222) and the central frame (270) are connected via flange bearings, the clockwise input pressure plate (221) and the clockwise input turbine (223) rotate synchronously and are tangent to the first roller (146) throughout the entire stroke of the clockwise input pressure plate (221), The counterclockwise motion part (230) comprises a counterclockwise input pressure plate (231), a counterclockwise input pressure plate link (232) and a counterclockwise input turbine (233) which are connected in sequence; the counterclockwise input pressure plate (231) and the counterclockwise input pressure plate link (232) are connected via countersunk bolts; the counterclockwise input pressure plate link (232) and the central skeleton (270) are connected via flange bearings; the counterclockwise input pressure plate (231) and the counterclockwise input turbine (233) rotate synchronously and are tangent to the second roller (156) throughout the entire stroke of the counterclockwise input pressure plate (231).

5. The position-stiffness-decoupled rope-driven manipulator variable-stiffness joint module according to claim 4, characterized in that: The clockwise input pressure plate link (222) is coaxial with and directly connected to the clockwise input turbine (223), and the counterclockwise input pressure plate link (232) is coaxial with and directly connected to the counterclockwise input turbine (233); the clockwise input turbine (223) and the counterclockwise input turbine (233) rotate synchronously and in opposite directions under the drive of the worm (350) of the stiffness adjustment input module (300).

6. The position-stiffness-decoupled rope-driven manipulator variable-stiffness joint module according to claim 4, characterized in that: The stiffness adjustment module (200) further comprises an encoder (240), a joint motor flange (250) and an input shaft flange (260); the joint motor (110) is mounted on the joint motor flange (250) by means of bolts; the joint motor flange (250) and the input shaft flange (260) are connected by means of bolts; and the magnetic ring of the encoder (240) is mounted on the joint input shaft (120) by means of a top screw.

7. The position-stiffness-decoupled rope-driven manipulator variable-stiffness joint module according to claim 1, characterized in that: The stiffness adjustment input module (300) comprises a stiffness adjustment motor flange (310), a stiffness adjustment motor output gear (320), a D-type shaft input gear (330), a worm D-type shaft (340), a worm (350) and a D-type shaft sleeve (360). The stiffness adjustment motor flange (310) is connected to the stiffness adjustment motor (210) of the stiffness adjustment module (200) via bolts, the stiffness adjustment motor flange (310) is connected to the stiffness adjustment motor output gear (320) via a jackscrew, the stiffness adjustment motor output gear (320) is connected to the joint input shaft (120) of the joint angle input module (100) via a bearing, and the D-shaped shaft input gear (330) is mounted on the joint input disk (130) of the joint angle input module (100) via a flange bearing; The D-type shaft input gear (330), the worm D-type shaft (340), the worm (350) and the D-type shaft sleeve (360) are stacked and installed; the lower end of the worm D-type shaft (340) is a round shaft; the worm D-type shaft (340) is connected to the D-type shaft sleeve (360) via a bearing; and the axis of the worm (350) cooperates with a clockwise input turbine (223) and a counterclockwise input turbine (233) of the stiffness adjustment module (200); A D-shaped hole is provided in the middle of the worm (350), and the worm D-shaped shaft (340) passes through the D-shaped hole of the worm (350).

8. The position-stiffness-decoupled rope-driven manipulator variable-stiffness joint module according to claim 1, characterized in that: The output module (400) comprises an output gear (410) and an output housing, wherein the output gear (410) is connected to the output housing via bolts; the output housing is also provided with a mounting hole for mounting an output disc for torque output and a groove for calibrating the output of a winding wheel at a base end of a rope-driven mechanical arm.

9. The position-stiffness-decoupled rope-driven manipulator variable-stiffness joint module according to claim 1, characterized in that: It also includes a base module (500), the base module (500) including a stiffness adjustment motor mounting base (510) connected to the stiffness adjustment module (200) and a joint motor mounting base (520) connected to the joint angle input module (100); The stiffness adjustment motor (210) of the stiffness adjustment module (200) is mounted on the stiffness adjustment motor mounting base (510) via bolts, and the input shaft flange (260) of the stiffness adjustment module (200) is mounted on the joint motor mounting base (520) via a deep groove ball bearing.

10. A robotic arm, characterized in that: A variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling as claimed in any one of claims 1 to 9.

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