Hybrid drive type bionic light-weight nursing mechanical arm

Abstract

The invention relates to a hybrid drive type bionic light-weight nursing mechanical arm which comprises a shoulder joint module, a rope-driven elbow joint module and a rope-driven wrist joint module which are connected in sequence. The shoulder joint module is of a series-parallel structure, a first servo motor directly drives a center linkage platform to achieve forward flexion and backward extension of the shoulder, and a second servo motor and a third servo motor cooperatively drive a closed-loop structure formed by a driven branch chain unit to achieve adduction, abduction, internal rotation and external rotation of the shoulder. The elbow joint module achieves elbow bending and stretching and inward and outward rotation driven by a fifth servo motor through rope wheel transmission and gear meshing. The wrist joint module achieves forward flexion, backward extension, abduction and adduction of the wrist through a rope winding path and bevel gear meshing. Compared with the prior art, the adaptability and efficiency of the mechanical arm in rehabilitation nursing are improved, it is ensured that all the joints can work precisely and cooperatively under multi-degree-of-freedom movement, and the control precision and stability of a driving system are optimized while the high-load bearing capacity is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training equipment, and in particular to a hybrid-driven bionic lightweight care robot arm. Background Art

[0002] Traditional manual care methods suffer from high labor intensity, limited effectiveness, and difficulty meeting the needs of efficient and personalized rehabilitation. To improve the effectiveness of rehabilitation treatment and reduce the workload of medical staff, robotic-assisted care technology has become a research and development hotspot in recent years.

[0003] As the core component of a rehabilitation care robot, the design and drive method of the robotic arm directly impact the device's performance and effectiveness. Currently, most rehabilitation robotic arms on the market utilize traditional electric or pneumatic drive systems. While these drive systems have achieved certain results in some applications, they still have certain limitations. For example, electric drive systems may lack load capacity and driving force, while pneumatic systems also lack precision control and stability. As a result, the robotic arm's response speed, control accuracy, and user comfort are less than ideal.

[0004] To overcome the shortcomings of traditional drive methods, hybrid drive technology has garnered increasing attention in recent years. By combining the advantages of both tethered and linear drives, hybrid drive technology can reduce the weight and complexity of the robotic arm while ensuring high efficiency, thereby enhancing the robot's flexibility and comfort during care. In particular, the bionic design of the shoulder and wrist can mimic the natural motion of the human body, improving the adaptability and maneuverability of the robotic arm. Furthermore, the use of a series-parallel hybrid structure enables more precise control of multiple degrees of freedom, effectively resolving the issues of uneven torque and uncoordinated motion that can arise from a single drive method.

[0005] Therefore, developing a hybrid-drive care robot arm that combines efficient driving performance with excellent biomimetic properties and lightweight design can not only improve the effectiveness of rehabilitation treatment, but also play a significant role in enhancing the patient experience and ease of use for caregivers. This technology has broad market prospects and is expected to be widely used in fields such as intelligent care robots, rehabilitation therapy, and elderly care. Summary of the Invention

[0006] The purpose of the present invention is to overcome the defects of the above-mentioned prior art such as insufficient robotic arm drive system, poor bionics, and heavy weight, and to provide a hybrid drive bionic lightweight care robotic arm to improve the applicability and efficiency of the robotic arm in rehabilitation care, ensure that each joint can work precisely together under multi-degree-of-freedom movement, and optimize the control accuracy and stability of the drive system while ensuring high load-bearing capacity.

[0007] The present invention provides a hybrid-driven bionic lightweight care robot arm, comprising a shoulder joint module, a rope-driven elbow joint module, and a rope-driven wrist joint module connected in sequence;

[0008] The wrist joint module is connected in series to the end of the elbow joint module, and the elbow joint module is connected in series to the end of the shoulder joint module;

[0009] The shoulder joint module is a series-parallel hybrid structure, including: a first servo motor, a second servo motor, a third servo motor, a central linkage platform, and a driven branch unit. The first servo motor directly drives the central linkage platform to achieve shoulder flexion and extension, while the second and third servo motors cooperate to drive the driven branch unit to form a closed loop structure to achieve shoulder adduction, abduction, internal and external rotation.

[0010] The elbow joint module includes: a fourth servo motor, a reversing pulley, a transmission conjugate meshing gear, a conjugate gear, a fifth servo motor and a pulley transmission unit. The fourth servo motor drives the reversing pulley to rotate and then drives the pulley transmission unit to rotate. Then the pulley transmission unit drives the transmission conjugate meshing gear to mesh with the conjugate gear and rotate to achieve elbow flexion and extension. The fifth servo motor drives the wrist joint module to achieve internal and external rotation.

[0011] The wrist joint module includes: a sixth servo motor, a transmission bevel gear, an output bevel gear and a pulley and rope transmission unit. The sixth servo motor drives the pulley and rope transmission unit to rotate, thereby driving the transmission bevel gear and the output bevel gear to engage and rotate, thereby realizing wrist flexion, extension, abduction and adduction.

[0012] Furthermore, in the shoulder joint module, the driven branch chain unit includes: a first driven branch chain, a second driven branch chain, a third driven branch chain, and a fourth driven branch chain; the first driven branch chain and the fourth driven branch chain are respectively connected to both sides of the central linkage platform, and the second driven branch chain and the third driven branch chain are cascaded to the first driven branch chain and the fourth driven branch chain to form a closed loop structure;

[0013] The first servo motor is fixed on the motor fixing cover, and the central linkage platform is connected to the output shaft of the first servo motor through a first flange; the second servo motor is fixed to the end of the second driven branch chain, and the third servo motor is fixed to the end of the fourth driven branch chain and rigidly connected to the third driven branch chain through a fourth flange.

[0014] Furthermore, the first driven branch chain and the fourth driven branch chain are rigidly connected to the central linkage platform through the second flange and the fifth flange respectively, the second driven branch chain is connected to the first driven branch chain through the sixth flange, and the third driven branch chain is connected to the second driven branch chain through the second servo motor output shaft.

[0015] The shoulder joint module mimics the motion of the human arm to the greatest extent possible and combines the advantages of serial and parallel robotic arms to achieve a larger workspace, compact size, good rigidity, and an overall shape similar to a sphere.

[0016] In "A Spherical Active Joint for Humanoids and Humans" (Mghames S. et al., IEEE Robotics and Automation Letters, vol. 4, no. 1, pp. 1-8, Jan. 2019), a three-degree-of-freedom drive mechanism based on a spherical joint is disclosed. By combining a series link and a parallel link structure, a hybrid-driven three-degree-of-freedom spherical shoulder joint is realized. The paper first proposes four different drive configuration models, and then if the load end and the fixed end are inverted, a total of eight different configuration models can be realized. The present invention, based on one of the theoretical models, analyzes and designs the size structure of each link, as well as the form and position matching relationship between the links, selects a drive motor of a different size, and rearranges the positions of the motor and the drive link that are different from those in the paper, thereby realizing a new three-degree-of-freedom series-parallel hybrid shoulder joint.

[0017] The series connection involves directly controlling the central linkage platform via the first servo motor to achieve shoulder flexion and extension. The parallel connection involves simultaneously connecting the first and fourth driven branches to the central linkage platform. The second and third driven branches are cascaded to the first and fourth driven branches, forming a closed-loop structure. The parallel connection achieves shoulder adduction, abduction, internal rotation, and external rotation under the joint control of the second and third servo motors.

[0018] Furthermore, in the elbow joint module, the rope pulley transmission unit includes: a first transmission rope pulley group, a second transmission rope pulley group, and a third transmission rope pulley group;

[0019] The reversing sheave is mounted on the rotating shaft of the fourth servo motor via a rotating shaft locating key; the first transmission sheave assembly is mounted on the lug seat on the sheave flange via a fixing pin; the two sets of transmission conjugate meshing gears are positioned and connected via a locating key, and the second transmission sheave assembly is coaxially fixed to the transmission conjugate meshing gear via a fixing pin, with the centers aligned;

[0020] The pulley flange is fixedly connected to the center of the fourth servo motor, the first gear flange is fixedly connected to the pulley flange, and the fourth servo motor is fixedly connected to the seventh flange provided at the bottom of the shoulder joint module;

[0021] The shoulder joint module is connected to the elbow joint module via a seventh flange.

[0022] Furthermore, the first transmission sheave group, the second transmission sheave group, and the third transmission sheave group are coaxially fixed to the sheave flange, the conjugate meshing gear, and the second gear flange, respectively, to form a three-stage sheave transmission chain.

[0023] Furthermore, the fifth servo motor is fixed to the second gear flange through a base, and a third flange is fixed to the fifth servo motor, and the third flange directly drives the wrist joint module to rotate.

[0024] The elbow joint module is connected to the wrist joint module via the third flange.

[0025] Furthermore, since the wrist joint uses a wire rope as an intermediate transmission unit, it is lighter, more flexible, quieter, and more cost-effective than a traditional gear-link mechanism, and the rope-driven system has better flexibility and high-precision joint movement. When the fourth servo motor controls the rotation of the reversing pulley, the wire rope wound on the reversing pulley is continuously tensioned, and the wire rope passes through the aligned small holes on the pulley flange and the first gear flange. The wire ropes wound on the first transmission pulley group and the second transmission pulley group are tensioned at the same time. Since the transmission pulley is fixed on the conjugate meshing gear, the wire rope drives the third transmission pulley group to rotate, and at the same time drives the meshing movement of the conjugate gear. When the fourth servo motor rotates forward and reverse respectively, it controls the elbow joint module to achieve elbow flexion and extension.

[0026] When the fifth servo motor rotates, it drives the third flange to rotate, so that the wrist joint module rotates inward and outward.

[0027] Furthermore, in the wrist joint module, the pulley and rope transmission unit includes: a movable pulley, a guide rope pulley, and a rope pulley;

[0028] Two symmetrically arranged sixth servo motors drive the winding path via a rope pulley. The transmission rope sequentially winds through the movable pulley, guide rope pulley, and pressure rope pulley, driving the transmission bevel gear to engage the output bevel gear. The movable pulley is mounted on a spring-loaded slider nested beneath the guide shaft to achieve adaptive tensioning. The slider moves up and down according to the spring deformation.

[0029] Furthermore, the transmission rope winding path is: led out from the wire pressing rope wheel, passes through the rope wheel fixing flange from bottom to top, passes around the guide rope wheel after reversing the movable pulley, is wound around the rope wheel, and then winds back to the wire pressing rope wheel fixed end in the reverse direction.

[0030] Specifically: it includes two transmission ropes, each transmission rope corresponds to a transmission wheel group on one side, wherein one end of a rope is fixed on the wire-pressing rope wheel, and the other end is wrapped around the wire-pressing rope wheel, passes through the rope wheel fixing flange from bottom to top, and bypasses the movable pulley to achieve reversal, and then bypasses the guide rope wheel on the same side from top to bottom, and then the rope is wrapped around the rope wheel for several turns and then led out through another guide rope wheel on the same side, bypasses the movable pulley from bottom to top, and after the rope reversal is achieved, it passes through the rope wheel fixing flange from top to bottom and returns to the wire-pressing rope wheel and fixes this end of the rope. The other rope is wound in the same way.

[0031] When the sixth servo motor rotates, it drives the pulley to rotate and at the same time drives the rope transmission. The rope passes through a series of guide pulleys and movable pulleys for reversing, and then drives the wire-pressing pulley that fixes the rope to rotate, thereby driving the transmission bevel gear installed on it to rotate. When the two transmission bevel gears move at the same time, the output bevel gear is driven to perform different movements: when the two transmission bevel gears rotate in the same direction, the output bevel gear rotates circumferentially relative to the axis of the transmission bevel gear, which can simulate the flexion and extension of the wrist joint; when the two transmission bevel gears rotate in opposite directions, the output bevel gear rotates around its own axis, which can simulate the abduction and adduction of the wrist joint.

[0032] Furthermore, the output bevel gear is engaged with the transmission bevel gear through the central bracket, and the gear fixing bracket and the output fixing bracket limit the axial displacement of the output bevel gear;

[0033] The connecting flange cover is fixedly connected to the elbow joint module, and the guide shaft is fixedly connected to the connecting flange cover and the fixed flange respectively;

[0034] The sixth servo motor passes through the motor hole reserved in the fixed flange and is fixedly connected to the pulley fixing flange. The motor shaft passes through the pulley fixing flange and is fixedly connected to the pulley. The pulley fixing flange is laterally fixedly connected to the guide pulley. The fixed bracket fixes the connecting flange cover, the fixed flange, the pulley fixing flange and the bearing cover. The wire pressing pulley is fixed on the bearing cover. The transmission bevel gear is connected to the bearing. The two ends of the center bracket are respectively fixed on the transmission bevel gear. The long axis end of the center bracket is connected to the output bevel gear, so that the two sets of transmission bevel gears and the output bevel gear are meshed with each other. The gear fixing frame is connected to the output bevel gear, and the output fixing frame is connected to both ends of the center bracket.

[0035] Application scenarios:

[0036] In rehabilitation care, robotic arms can assist patients with movements like grasping, flexion, and extension. When combined with a real-time biofeedback system to dynamically adjust the force of assistance, this can prevent over-reliance on the device while also activating any remaining neuromuscular function. In the care of disabled elderly people, lightweight bionic arms can assist with daily activities like eating and retrieving objects.

[0037] Compared with the prior art, the present invention has the following advantages:

[0038] (1) High-efficiency driving performance of multi-joint coordination. A hybrid drive system combining rope drive and direct drive is adopted, and with the help of a series-parallel hybrid mechanism drive design, it is ensured that each joint can work accurately in coordination under multi-degree-of-freedom motion, avoiding the problems of motion incoordination and uneven torque that may be caused by a single drive mode. Serial-parallel hybrid structure of the shoulder joint: the first servo motor directly drives the central linkage platform (serial structure) to achieve flexion / extension; the second and third servo motors control adduction / abduction and rotation through closed-loop branch chains (parallel structure). Elbow joint three-stage rope pulley transmission chain: the reversing rope pulley, the first transmission rope pulley group, the second transmission rope pulley group, and the third transmission rope pulley group (212) form a three-stage reduction gear, combined with conjugate gear meshing.

[0039] (2) High precision and stability. The combination of rope drive and direct drive can optimize the control accuracy and stability of the drive system while ensuring high load-bearing capacity.

[0040] (3) Lightweight. The rope drive system replaces the rigid transmission, using lightweight materials and a compact structural design. The wrist movable pulley uses springs and sliders to achieve adaptive adjustment of rope tension. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of the overall structure of the robotic arm in Example 1;

[0042] Figure 2 Schematic diagrams of the exploded and overall structure of the shoulder joint module in Example 1; (a) is the exploded schematic diagram, and (b) is the overall schematic diagram;

[0043] Figure 3 Schematic diagrams of the exploded and overall structure of the elbow joint module in Example 1; (a) is the exploded schematic diagram, and (b) is the overall schematic diagram;

[0044] Figure 4 Schematic diagrams of the exploded structure and overall structure of the wrist joint module in Example 1; (a) is the exploded structure, and (b) is the overall structure.

[0045] Reference numerals: 100 - shoulder joint module; 200 - elbow joint module; 300 - wrist joint module;

[0046] 101 - Motor fixing cover; 102 - First servo motor; 103 - First flange; 104 - Central linkage platform; 105 - Second flange; 106 - First driven branch chain; 107 - Second servo motor; 108 - Sixth flange; 109 - Second driven branch chain; 110 - Third driven branch chain; 111 - Fifth flange; 112 - Fourth driven branch chain; 113 - Fourth flange; 114 - Third servo motor; 115 - Seventh flange;

[0047] 201 - fourth servo motor; 202 - shaft positioning key; 203 - reversing pulley; 204 - ear seat; 205 - pulley flange; 206 - fixing pin; 207 - first transmission pulley assembly; 208 - first gear flange; 209 - transmission conjugate meshing gear; 210 - positioning key; 211 - second transmission pulley assembly; 212 - third transmission pulley assembly; 213 - conjugate gear; 214 - second gear flange; 215 - base; 216 - fifth servo motor; 217 - third flange;

[0048] 301-connecting flange cover; 302-guide shaft; 303-movable pulley; 304-slider; 305-spring; 306-fixed flange; 307-sixth servo motor; 308-fixed bracket; 309-pulley fixing flange; 310-guide pulley; 311-motor shaft; 312-pulley; 314-pressing pulley; 315-transmission bevel gear; 316-bearing cover; 317-center bracket; 318-output bevel gear; 319-gear fixing bracket; 320-output fixing bracket. DETAILED DESCRIPTION

[0049] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms, and other features not explicitly described in this technical solution are considered common technical features disclosed in the prior art.

[0050] Example 1

[0051] This embodiment provides a hybrid drive bionic lightweight care robot arm, such as Figure 1-4 As shown, it includes a shoulder joint module 100, a rope-driven elbow joint module 200 and a rope-driven wrist joint module 300 connected in sequence;

[0052] The wrist joint module 300 is connected in series to the end of the elbow joint module 200, and the elbow joint module 200 is connected in series to the end of the shoulder joint module 100;

[0053] The shoulder joint module 100 is a series-parallel hybrid structure, comprising: a first servo motor 102, a second servo motor 107, a third servo motor 114, a central linkage platform 104, and a driven branch chain unit. The first servo motor 102 directly drives the central linkage platform 104 to achieve shoulder flexion and extension, while the second servo motor 107 and the third servo motor 114 cooperate to drive the driven branch chain unit to form a closed loop structure to achieve shoulder adduction, abduction, internal and external rotation.

[0054] In the shoulder joint module 100, the driven branch chain unit includes: a first driven branch chain 106, a second driven branch chain 109, a third driven branch chain 110, and a fourth driven branch chain 112; the first driven branch chain 106 and the fourth driven branch chain 112 are respectively connected to both sides of the central linkage platform 104, and the second driven branch chain 109 and the third driven branch chain 110 are cascaded on the first driven branch chain 106 and the fourth driven branch chain 112 to form a closed loop structure;

[0055] The first servo motor 102 is fixed on the motor fixing cover 101, and the central linkage platform 104 is connected to the output shaft of the first servo motor 102 through the first flange 103; the second servo motor 107 is fixed to the end of the second driven branch chain 109, and the third servo motor 114 is fixed to the end of the fourth driven branch chain 112, and is rigidly connected to the third driven branch chain 110 through the fourth flange 113.

[0056] The first driven branch chain 106 and the fourth driven branch chain 112 are rigidly connected to the central linkage platform 104 through the second flange 105 and the fifth flange 111 respectively. The second driven branch chain 109 is connected to the first driven branch chain 106 through the sixth flange 108. The third driven branch chain 110 is connected to the second driven branch chain 109 through the output shaft of the second servo motor 107.

[0057] The shoulder joint module 100 imitates the movement of the human arm to the greatest extent possible and combines the advantages of serial and parallel robotic arms to achieve a larger workspace, compact size, good rigidity, and an overall shape similar to a sphere.

[0058] In "A Spherical Active Joint for Humanoids and Humans" (Mghames S. et al., IEEE Robotics and Automation Letters, vol. 4, no. 1, pp. 1-8, Jan. 2019), a three-degree-of-freedom drive mechanism based on a spherical joint is disclosed. By combining a series link and a parallel link structure, a hybrid-driven three-degree-of-freedom spherical shoulder joint is realized. The paper first proposes four different drive configuration models, and then if the load end and the fixed end are inverted, a total of eight different configuration models can be realized. The present invention, based on one of the theoretical models, analyzes and designs the size structure of each link, as well as the form and position matching relationship between the links, selects a drive motor of a different size, and rearranges the positions of the motor and the drive link that are different from those in the paper, thereby realizing a new three-degree-of-freedom series-parallel hybrid shoulder joint.

[0059] The series connection mechanism involves directly controlling the central linkage platform 104 via the first servo motor 102, achieving shoulder flexion and extension. The parallel connection mechanism involves simultaneously connecting the first and fourth driven branches 106 and 112 to the central linkage platform 104. The second and third driven branches 109 and 110 are cascaded to the first and fourth driven branches 106 and 112, forming a closed-loop structure. This parallel connection mechanism achieves shoulder adduction, abduction, internal rotation, and external rotation under the joint control of the second and third servo motors 107 and 114.

[0060] The elbow joint module 200 includes: a fourth servo motor 201, a reversing pulley 203, a transmission conjugate meshing gear 209, a conjugate gear 213, a fifth servo motor 216 and a pulley transmission unit. The fourth servo motor 201 drives the reversing pulley 203 to rotate, thereby driving the pulley transmission unit to rotate. Then, the pulley transmission unit drives the transmission conjugate meshing gear 209 and the conjugate gear 213 to mesh and rotate, thereby achieving elbow flexion and extension. The fifth servo motor 216 drives the wrist joint module 300 to achieve internal and external rotation.

[0061] In the elbow joint module 200, the rope pulley transmission unit includes: a first transmission rope pulley group 207, a second transmission rope pulley group 211, and a third transmission rope pulley group 212;

[0062] The reversing sheave 203 is mounted on the rotating shaft of the fourth servo motor 201 via a shaft locating key 202. The first transmission sheave assembly 207 is mounted on the ear seat 204 on the sheave flange 205 via a fixing pin 206. The two sets of transmission conjugate meshing gears 209 are positioned and connected via a locating key 210. The second transmission sheave assembly 211 is coaxially fixed to the transmission conjugate meshing gears 209 via a fixing pin, with the centers aligned.

[0063] The pulley flange 205 is fixedly connected to the center of the fourth servo motor 201, the first gear flange 208 is fixedly connected to the pulley flange 205, and the fourth servo motor 201 is fixedly connected to the seventh flange 115 provided at the bottom of the shoulder joint module 100; the shoulder joint module 100 is connected to the elbow joint module 200 through the seventh flange 115.

[0064] The first transmission rope pulley group 207, the second transmission rope pulley group 211, and the third transmission rope pulley group 212 are coaxially fixed to the rope pulley flange 205, the conjugate meshing gear 209, and the second gear flange 214, respectively, to form a three-stage rope pulley transmission chain.

[0065] The fifth servo motor 216 is fixed to the second gear flange 214 via the base 215 . A third flange 217 is fixed to the fifth servo motor 216 . The third flange 217 directly drives the wrist joint module 300 to rotate. The elbow joint module 200 is connected to the wrist joint module 300 via the third flange 217 .

[0066] Since the wrist joint uses a steel wire rope as an intermediate transmission unit, it is lighter, more flexible, quieter, and more cost-effective than a traditional gear-link mechanism, and the rope-driven system has better flexibility and high-precision joint movement. When the fourth servo motor 201 controls the rotation of the reversing pulley 203, the steel wire rope wound on the reversing pulley 203 is continuously tensioned, and the steel wire rope passes through the aligned small holes on the pulley flange 205 and the first gear flange 208. The steel wire ropes wound on the first transmission pulley group 207 and the second transmission pulley group 211 are simultaneously tensioned. Since the transmission pulleys are fixed on the conjugate meshing gears, the steel wire rope drives the third transmission pulley group 212 to rotate, and at the same time drives the meshing movement of the conjugate gears 213. When the fourth servo motor 201 rotates forward and reverse respectively, it controls the elbow joint module 200 to achieve elbow flexion and extension.

[0067] When the fifth servo motor 216 rotates, it drives the third flange 217 to rotate, so that the wrist joint module 300 rotates inward or outward.

[0068] The wrist joint module 300 includes: a sixth servo motor 307, a transmission bevel gear 315, an output bevel gear 318 and a pulley and rope transmission unit. The sixth servo motor 307 drives the pulley and rope transmission unit to rotate, thereby driving the transmission bevel gear 315 and the output bevel gear 318 to engage and rotate, thereby realizing wrist flexion, extension, abduction and adduction.

[0069] In the wrist joint module 300, the pulley and rope transmission unit includes: a movable pulley 303, a guide rope pulley 310, and a rope pulley 312;

[0070] Two symmetrically arranged sixth servo motors 307 drive the winding path via sheaves 312. The transmission rope sequentially winds around movable pulley 303, guide sheave 310, and pressure sheave 314, driving transmission bevel gear 315 to engage output bevel gear 318. Movable pulley 303 is mounted on a slider 304 with a spring 305. Slider 304 is nested beneath guide shaft 302 to achieve adaptive tensioning. Slider 304 moves up and down based on the deformation of spring 305.

[0071] The transmission rope winding path is: it is led out from the pressure rope wheel 314, passes through the rope wheel fixing flange 309 from bottom to top, passes around the guide rope wheel 310 after reversing through the movable pulley 303, is wound around the rope wheel 312, and then reversely winds back to the fixed end of the pressure rope wheel 314.

[0072] Specifically, it includes two transmission ropes, each transmission rope corresponds to a transmission wheel group on one side, wherein one end of a rope is fixed on the wire-pressing rope wheel 314, and the other end is wound around the wire-pressing rope wheel 314, passes through the rope wheel fixing flange 309 from bottom to top, and bypasses the movable pulley 303 to achieve reversal, and then bypasses the guide rope wheel 310 on the same side from top to bottom, and then the rope is wrapped around the rope wheel 312 for several turns and then led out through another guide rope wheel 310 on the same side, bypasses the movable pulley 303 from bottom to top, and after the rope reversal is achieved, it passes through the rope wheel fixing flange 309 from top to bottom and returns to the wire-pressing rope wheel 314 and fixes this end of the rope, and the other rope is wound in the same way.

[0073] When the sixth servo motor 307 rotates, it drives the pulley 312 to rotate, and at the same time drives the rope transmission. The rope passes through a series of guide pulleys 310 and the reversing of the movable pulley 303, and then drives the wire-pressing pulley 314 for fixing the rope to rotate, thereby driving the transmission bevel gear 315 installed thereon to rotate. When the two transmission bevel gears 315 move at the same time, the output bevel gear 318 is driven to perform different movements: when the two transmission bevel gears rotate in the same direction, the output bevel gear rotates circumferentially relative to the axis of the transmission bevel gear, which can simulate the flexion and extension of the wrist joint; when the two transmission bevel gears rotate in opposite directions, the output bevel gear rotates around its own axis, which can simulate the abduction and adduction of the wrist joint.

[0074] The output bevel gear 318 is meshed with the transmission bevel gear 315 via the central bracket 317 , and the gear fixing frame 319 and the output fixing frame 320 limit the axial displacement of the output bevel gear 318 ;

[0075] The connecting flange cover 301 is fixedly connected to the elbow joint module 200, and the guide shaft 302 is fixedly connected to the connecting flange cover 301 and the fixing flange 306 respectively;

[0076] The sixth servo motor 307 passes through the motor hole reserved in the fixed flange 306 and is fixedly connected to the pulley fixing flange 309. The motor shaft 311 passes through the pulley fixing flange 309 and is fixedly connected to the pulley 312. The pulley fixing flange 309 is laterally fixedly connected to the guide pulley 310. The fixed bracket 308 fixedly connects the connecting flange cover 301, the fixed flange 306, the pulley fixing flange 309 and the bearing cover 316. The wire pressing pulley 314 is fixed on the bearing cover 316. The transmission bevel gear 315 is connected to the bearing. The two ends of the center bracket 317 are respectively fixed on the transmission bevel gear 315. The long axis end of the center bracket 317 is connected to the output bevel gear 318, so that the two sets of transmission bevel gears 315 and the output bevel gear 318 are meshed with each other. The gear fixing frame 319 is connected to the output bevel gear 318, and the output fixing frame 320 is connected to both ends of the center bracket 317.

[0077] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0078] The above description of the embodiments is intended to facilitate understanding and use of the invention by those skilled in the art. It will be apparent that those skilled in the art can readily make various modifications to these embodiments and apply the general principles described herein to other embodiments without requiring inventive effort. Therefore, the present invention is not limited to the above-described embodiments. Improvements and modifications made by those skilled in the art based on the disclosure of the present invention, without departing from the scope of the present invention, should be within the scope of protection of the present invention.

Claims

1. A hybrid drive bionic lightweight care robot arm, characterized in that: It comprises a shoulder joint module (100), a rope-driven elbow joint module (200) and a rope-driven wrist joint module (300) which are connected in sequence; The shoulder joint module (100) comprises: a first servo motor (102), a second servo motor (107), a third servo motor (114), a central linkage platform (104) and a driven branch chain unit; the first servo motor (102) directly drives the central linkage platform (104) to achieve shoulder flexion and extension, and the second servo motor (107) and the third servo motor (114) cooperatively drive the driven branch chain unit to achieve shoulder adduction, abduction, internal and external rotation; The elbow joint module (200) comprises: a fourth servo motor (201), a reversing rope pulley (203), a transmission conjugate meshing gear (209), a conjugate gear (213), a fifth servo motor (216) and a rope pulley transmission unit. The fourth servo motor (201) drives the reversing rope pulley (203) to rotate and then drives the rope pulley transmission unit to rotate. Then, the rope pulley transmission unit drives the transmission conjugate meshing gear (209) and the conjugate gear (213) to mesh and rotate, thereby achieving elbow flexion and extension. The fifth servo motor (216) drives the wrist joint module (300) to achieve internal and external rotation. The wrist joint module (300) comprises: a sixth servo motor (307), a transmission bevel gear (315), an output bevel gear (318) and a pulley and rope transmission unit. The sixth servo motor (307) drives the pulley and rope transmission unit to rotate, thereby driving the transmission bevel gear (315) and the output bevel gear (318) to engage and rotate, thereby realizing flexion, extension, abduction and adduction of the wrist.

2. The hybrid drive bionic lightweight care robot arm according to claim 1, characterized in that: In the shoulder joint module (100), the driven branch chain unit includes: a first driven branch chain (106), a second driven branch chain (109), a third driven branch chain (110), and a fourth driven branch chain (112); the first driven branch chain (106) and the fourth driven branch chain (112) are respectively connected to both sides of the central linkage platform (104), and the second driven branch chain (109) and the third driven branch chain (110) are cascaded on the first driven branch chain (106) and the fourth driven branch chain (112) to form a closed loop structure; The first servo motor (102) is fixed on the motor fixing cover (101), and the central linkage platform (104) is connected to the output shaft of the first servo motor (102) through a first flange (103); the second servo motor (107) is fixed to the end of the second driven branch chain (109), and the third servo motor (114) is fixed to the end of the fourth driven branch chain (112) and is rigidly connected to the third driven branch chain (110) through a fourth flange (113).

3. The hybrid drive bionic lightweight care robot arm according to claim 2, characterized in that: The first driven branch chain (106) and the fourth driven branch chain (112) are rigidly connected to the central linkage platform (104) through the second flange (105) and the fifth flange (111), respectively; the second driven branch chain (109) is connected to the first driven branch chain (106) through the sixth flange (108); and the third driven branch chain (110) is connected to the second driven branch chain (109) through the output shaft of the second servo motor (107).

4. The hybrid drive bionic lightweight care robot arm according to claim 1, characterized in that: In the elbow joint module (200), the rope pulley transmission unit comprises: a first transmission rope pulley group (207), a second transmission rope pulley group (211), and a third transmission rope pulley group (212); The reversing rope pulley (203) is mounted on the rotating shaft of the fourth servo motor (201) via a rotating shaft positioning key (202); the first transmission rope pulley group (207) is mounted on the ear seat (204) on the rope pulley flange (205) via a fixing pin (206); the two sets of transmission conjugate meshing gears (209) are positioned and connected via a positioning key (210); the second transmission rope pulley group (211) is coaxially fixed with the transmission conjugate meshing gear (209) via a fixing pin, and the centers are aligned; The pulley flange (205) is fixedly connected to the center of the fourth servo motor (201), the first gear flange (208) is fixedly connected to the pulley flange (205), and the fourth servo motor (201) is fixedly connected to the seventh flange (115) provided at the bottom of the shoulder joint module (100); The shoulder joint module (100) is connected to the elbow joint module (200) via a seventh flange (115).

5. The hybrid drive bionic lightweight care robot arm according to claim 4, characterized in that: The first transmission rope pulley group (207), the second transmission rope pulley group (211), and the third transmission rope pulley group (212) are respectively coaxially fixed with the rope pulley flange (205), the conjugate meshing gear (209), and the second gear flange (214), forming a three-stage rope pulley transmission chain.

6. The hybrid drive bionic lightweight care robot arm according to claim 4, characterized in that: The fifth servo motor (216) is fixed to the second gear flange (214) via a base (215); a third flange (217) is fixed to the fifth servo motor (216); the third flange (217) directly drives the wrist joint module (300) to rotate; The elbow joint module (200) is connected to the wrist joint module (300) via the third flange (217).

7. The hybrid drive bionic lightweight care robot arm according to claim 4, characterized in that: When the fourth servo motor (201) controls the reversing rope pulley (203) to rotate, the steel wire rope wound on the reversing rope pulley (203) is continuously tensioned, the steel wire rope passes through the small holes aligned on the rope pulley flange (205) and the first gear flange (208), and the steel wire ropes wound on the first transmission rope pulley group (207) and the second transmission rope pulley group (211) are simultaneously tensioned, and the steel wire rope drives the third transmission rope pulley group (212) to rotate, and at the same time drives the conjugate gear (213) to engage and move, and when the fourth servo motor (201) rotates forward and reverse respectively, the elbow joint module (200) is controlled to achieve elbow flexion and extension; When the fifth servo motor (216) rotates, it drives the third flange (217) to rotate, thereby achieving the inward and outward rotation of the wrist joint module (300).

8. The hybrid drive bionic lightweight care robot arm according to claim 1, characterized in that: In the wrist joint module (300), the pulley and rope transmission unit includes: a movable pulley (303), a guide rope pulley (310), and a rope pulley (312); Two groups of sixth servo motors (307) are symmetrically arranged and drive the winding path through the rope pulley (312); the transmission rope is wound around the movable pulley (303), the guide rope pulley (310) and the wire pressing rope pulley (314) in sequence, driving the transmission bevel gear (315) to engage the output bevel gear (318); the movable pulley (303) is installed on the slider (304) with the spring (305), and the slider (304) is nested under the guide shaft (302) to achieve adaptive tensioning.

9. The hybrid drive bionic lightweight care robot arm according to claim 8, characterized in that: The transmission rope winding path is as follows: it is led out from the pressing rope wheel (314), passes through the rope wheel fixing flange (309) from bottom to top, passes around the guide rope wheel (310) after reversing through the movable pulley (303), is wound around the rope wheel (312), and then reversely winds back to the fixed end of the pressing rope wheel (314).

10. The hybrid drive bionic lightweight care robot arm according to claim 8, characterized in that: The output bevel gear (318) is meshed with the transmission bevel gear (315) through the central bracket (317), and the gear fixing frame (319) and the output fixing frame (320) limit the axial displacement of the output bevel gear (318); The connecting flange cover (301) is fixedly connected to the elbow joint module (200), and the guide shaft (302) is fixedly connected to the connecting flange cover (301) and the fixing flange (306) respectively; The sixth servo motor (307) passes through the motor hole reserved in the fixed flange (306) and is fixedly connected to the rope pulley fixed flange (309). The motor shaft (311) passes through the rope pulley fixed flange (309) and is fixedly connected to the rope pulley (312). The rope pulley fixed flange (309) is laterally fixedly connected to the guide rope pulley (310). The fixed bracket (308) is fixedly connected to the connecting flange cover (301), the fixed flange (306), the rope pulley fixed flange (309) and the bearing cover (316). The pressing rope wheel (314) is fixed on the bearing cover (316), the transmission bevel gear (315) is connected to the bearing, the two ends of the center bracket (317) are respectively fixed on the transmission bevel gear (315), the long axis end of the center bracket (317) is connected to the output bevel gear (318), so that the two groups of transmission bevel gears (315) and the output bevel gear (318) are meshed with each other, the gear fixing frame (319) is connected to the output bevel gear (318), and the output fixing frame (320) is connected to the two ends of the center bracket (317).

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