A rope-driven decoupled dual-parallel five-degree-of-freedom bionic shoulder joint

Abstract

This invention belongs to the field of robot joint technology, specifically relating to a rope-driven, decoupled, dual-parallel five-DOF bionic shoulder joint, including a scapulothoracic joint mechanism, a glenohumeral joint mechanism, a drive base device, and drive ropes. The scapulothoracic joint mechanism and the glenohumeral joint mechanism are internally rotatably connected. The drive base device is used to fix the scapulothoracic joint mechanism and to provide drive ropes for both mechanisms. The scapulothoracic joint mechanism is constrained by a first constraint branch, a second constraint branch, and a decoupling through-line branch, satisfying the pure rolling two-DOF rotation requirement, driven by two sets of antagonistic drive ropes. The glenohumeral joint mechanism is driven by four independent drive ropes to achieve three-DOF rotational motion. The decoupling through-line branches distribute the drive ropes of the glenohumeral joint mechanism, achieving physical decoupling and ensuring that the drives of the two mechanisms do not interfere with each other. Through rope-driven and dual-parallel passive mechanisms, a larger range of motion can be achieved, improving the stiffness and load-bearing capacity of the mechanism.

Description

Technical Field

[0001] This invention relates to the field of robot joint technology, and more specifically, to a cable-driven decoupled dual parallel five-DOF bionic shoulder joint. Background Technology

[0002] Human shoulder movements are primarily driven by upper limb girdle muscles such as the deltoid, supraspinatus, and teres major, as well as back muscles such as the trapezius, rhomboids, and latissimus dorsi. The scapulothoracic joint (formed by the scapula and chest wall) and the glenohumeral joint (formed by the scapula, clavicle, and humerus) provide support and restraint to the shoulder. Therefore, the high mobility and stability of the human shoulder joint depend on the combined action of multiple muscles and the superposition of multiple joint movements.

[0003] Traditional serial robots, based on open kinematic chains composed of multiple degrees of freedom, have a large workspace but also suffer from limitations such as high inertia, poor dynamic characteristics, large cumulative errors, and susceptibility to vibration during operation. Parallel robots, based on multiple kinematic chains connecting moving and stationary platforms to form multiple loops, offer better rigidity and smaller cumulative errors, but their workspace is limited. For collaborative robotic arms suitable for human-robot interaction, safety, compliance, and a human-like workspace are required. The motor arrangement characteristics of multi-link serial robots result in excessive inertia, hindering their lightweight design. Individual parallel mechanisms cannot meet the working range required for human-like operation, and rigid link drives cannot provide good interactive compliance in reverse drive. Summary of the Invention

[0004] To overcome the limitations of traditional rigid serial / parallel robots and to balance human-machine operation safety, compliance, and workspace compatibility, this invention provides a rope-driven decoupled dual parallel five-DOF bionic shoulder joint. In terms of motion, it has a large range of motion and more human-like shoulder movement characteristics. In terms of drive, it has rope-driven long-distance transmission, lightweight characteristics, and bionic antagonistic drive characteristics similar to muscles and tendons.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] A rope-driven, decoupled, dual-parallel, five-DOF bionic shoulder joint mainly includes a drive base device, a scapulothoracic joint mechanism, a glenohumeral joint mechanism, and drive ropes connecting them.

[0007] The drive base device is used to fix and mount the scapulothoracic joint mechanism and provide driving force for the two joint mechanisms. The drive ropes include a first antagonistic drive rope and a second antagonistic drive rope for driving the scapulothoracic joint mechanism, and first, second, third, and fourth shoulder drive lines for driving the glenohumeral joint mechanism. All drive ropes are connected in parallel.

[0008] The scapulothoracic joint mechanism is the core component that mimics scapular movement and is a two-degree-of-freedom pure rolling parallel mechanism. It mainly includes:

[0009] Static platform device: fixed on the drive base device, which is equipped with No. 1 and No. 2 static platform shafts and a compound pulley group.

[0010] Intermediate moving platform device: It is connected to the static platform device through a constraint chain, and is equipped with No. 1 and No. 2 moving platform shafts, moving pulley blocks and universal guide wheel device.

[0011] Constraint branches: These include a first constraint branch and a second constraint branch. The first constraint branch consists of link 1, link 2, link 3, and link 4, forming a ball joint connection. The second constraint branch consists of link 5, link 6, and link 7, hinged together. These branches connect the static platform device and the intermediate moving platform device, constraining them to achieve pure rolling motion. By combining different numbers (e.g., two first constraint branches and one second constraint branch, or two first constraint branches and two second constraint branches) and topological arrangements, different load-bearing requirements can be accommodated. In simplified schemes, necessary constraints are provided, while in preferred schemes, redundant constraints enhance rigidity and load-bearing performance.

[0012] Drive rope winding: The antagonistic drive rope driving this mechanism winds sequentially around the three pulleys of the compound pulley block on the static platform device and the two pulleys of the moving pulley block on the intermediate moving platform device, forming multiple turns (e.g., four turns, the number of turns can be adjusted according to load requirements), thereby amplifying the driving force. The special arrangement of the pulley block ensures that the total length of the paired cables remains constant during pure rolling motion.

[0013] Decoupling cable guide chain: Connecting the static platform device and the intermediate movable platform device, it is used to pass the drive rope of the glenohumeral joint mechanism. It includes a first movable cable guide device, a second movable cable guide device, and an intermediate constraint link connecting the two. Each of the two movable cable guide devices is equipped with a central decoupling pulley group, a first redirecting cable guide pulley group, and a second redirecting cable guide pulley group, used to achieve path decoupling and redirection of the rope, thereby decoupling the scapulothoracic joint mechanism and the glenohumeral joint mechanism kinematically and in terms of drive path.

[0014] The glenohumeral joint mechanism described above is the core component that mimics the movement of the humerus and belongs to a three-degree-of-freedom spherical parallel mechanism. It mainly includes:

[0015] The spherical kinematic chain consists of a first shoulder universal joint, a second shoulder universal joint, and a shoulder output flange connected in sequence. The first shoulder universal joint has two mutually orthogonal shoulder axes, and the second shoulder universal joint has a third shoulder axis. These three axes intersect at a single point and are orthogonal to each other, forming a spherical kinematic pair.

[0016] Drive connection points: Multiple universal joints are installed on the shoulder output flange for connecting the drive rope.

[0017] Drive path: The four shoulder drive lines driving this mechanism (shoulder drive line 1, shoulder drive line 2, shoulder drive line 3, and shoulder drive line 4) first pass through the pulley block in the decoupled via chain as follows:

[0018] Shoulder drive lines No. 1 and No. 2: First, they pass through the No. 2 redirection guide wheel group of the No. 1 movable guide device, then pass through the central decoupling pulley group on the No. 1 movable guide device and the No. 2 movable guide device in sequence, and finally pass through the No. 2 redirection guide wheel group of the No. 2 movable guide device.

[0019] Shoulder drive lines No. 3 and No. 4: First, they pass through the No. 1 redirecting guide wheel group of the No. 1 movable guide device, then pass through the central decoupling pulley group on the No. 1 and No. 2 movable guide devices in sequence, and finally pass through the No. 1 redirecting guide wheel group of the No. 2 movable guide device. After the winding is completed, the four shoulder drive lines pass through the universal guide wheel device on the intermediate moving platform device, and finally connect to the universal joint of the shoulder output flange.

[0020] The drive base device is an integrated platform for all drive sources. It mainly includes:

[0021] Base: includes a base top plate and two base side plates.

[0022] Drive unit: It is equipped with two sets of scapulothoracic joint drive devices (each including a motor and a reducer) and four sets of glenohumeral joint drive devices (each including a motor and a reducer).

[0023] Winding mechanism: It has two bidirectional antagonistic windings (connected to the output end of the scapulothoracic joint drive device respectively) and four unidirectional windings (connected to the output end of the glenohumeral joint drive device respectively).

[0024] Guide pulley system: The base is equipped with No. 1 and No. 2 shoulder pulley systems and No. 1 and No. 2 scapula-thoracic pulley systems, which are used to guide each drive rope out from the drive device and to the corresponding joint mechanism.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] 1. The bionic shoulder joint of this invention has five degrees of freedom and includes a dual parallel mechanism, which can achieve a large range of motion while completing different combinations of motion. From the perspective of human skeletal kinematics, it realizes the superimposed motion effect of the glenohumeral joint of the shoulder and the scapulothoracic joint.

[0027] 2. In this invention, both the two-degree-of-freedom primary parallel mechanism and the three-degree-of-freedom secondary parallel mechanism mounted on it are driven by ropes, achieving the effects of lightweight design and tension amplification, resulting in high safety while reducing the need for deceleration mechanisms. Furthermore, in this invention, the bionic shoulder joint actuators are all located on the base, resulting in low inertia, good dynamic characteristics, and enhanced safety.

[0028] 3. The bionic scapulothorax joint in this invention is a redundant constraint mechanism, which effectively improves rigidity and load-bearing capacity, and enhances positioning accuracy. Moreover, this mechanism is a pure rolling mechanism among two-rotation parallel mechanisms, and its kinematic calculations involve few motion parameters, making it easy to control.

[0029] 4. This invention proposes a novel decoupling branch, which can be used for the physical decoupling of parallel spherical mechanisms with pure rolling motion of two or three degrees of freedom. This branch ensures that the pulley grooves on the moving and stationary platforms are always aligned, and the pulley spacing remains constant. This wiring method keeps the local ropes passing through constant. In this invention, the drive rope of the bionic glenohumeral joint passes through the decoupling branch placed in the bionic scapulothoracic joint. Physical decoupling is achieved by utilizing the mechanical properties of the two-degree-of-freedom pure rolling mechanism and the decoupling branch, avoiding the cumulative error of multi-stage mechanisms. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the scapulothoracic joint mechanism, the glenohumeral joint mechanism, and the drive rope of the glenohumeral joint mechanism.

[0032] Figure 3 A schematic diagram of part of the drive ropes of the scapulothoracic joint mechanism;

[0033] Figure 4 A schematic diagram of the glenohumeral joint mechanism;

[0034] Figure 5 This is a schematic diagram of the drive base device;

[0035] Figure 6 This is a schematic diagram of the intermediate moving platform device;

[0036] Figure 7 This is a schematic diagram of the static platform device;

[0037] Figure 8 This is a schematic diagram of the structure of the first constraint branch;

[0038] Figure 9 This is a schematic diagram of the structure of the second constraint branch;

[0039] Figure 10This is a schematic diagram of the omnidirectional guide wheel device.

[0040] Figure 11 A schematic diagram of the structure for decoupling the through-wire branch;

[0041] Figure 12 A diagram showing the cable winding of the glenohumeral joint mechanism in the drive unit;

[0042] Figure 13 A diagram showing the cable routing of the scapulothoracic joint mechanism within the drive base assembly;

[0043] Among them, there are drive base device (1), scapulothorax joint mechanism (2), glenohumeral joint mechanism (3), and drive rope (4).

[0044] The scapulothoracic joint mechanism (2) includes: a static platform device (21), an intermediate moving platform device (22), a first constraint branch (23), a second constraint branch (24), and a decoupling through-line branch (25).

[0045] The glenohumeral joint mechanism (3) includes: a first shoulder universal joint (31), a first shoulder axis (311), a second shoulder axis (312), a second shoulder universal joint (32), a third shoulder axis (321), a shoulder output flange (33), and a universal joint (34).

[0046] The static platform device (21) includes: static platform base (211), first static platform shaft (2111), second static platform shaft (2112), static platform center axis (2113), compound pulley block (212), pulley mounting bracket (2121), rope auxiliary bracket (2122), pulley (2123), and redirection sleeve (2124).

[0047] The intermediate moving platform device (22) includes: intermediate moving platform base (221), first moving platform shaft (2211), second moving platform shaft (2212), moving platform center axis (2213), shoulder universal axis (2214), moving pulley block (222), pulley mounting bracket (2221), rope auxiliary bracket (2222), pulley (2223), universal cable guide wheel device (223), pulley rod (2231), bearing seat (2232), cable guide frame (2233), swingable pulley (2234), and swing reference line (2235).

[0048] The first constraint branch (23) includes: a first link (231), a first link hole (2311), a second link assembly (232), a third link assembly (233), a fourth link (234), and a fourth link hole (2341).

[0049] The second constraint branch (24) includes: link 5 (241), link 5 hole (2411), link 6 (242), link 6 hole (2421), and link 7 (243).

[0050] The decoupled line-passing branch (25) includes: a first movable line-passing device (251), a first slewing reference line (2511), an intermediate constraint link (252), a second movable line-passing device (253), a second slewing reference line (2531), a central decoupled pulley block (2532), a first redirection line-passing wheel block (2533), and a second redirection line-passing wheel block (2534).

[0051] The drive base device (1) includes: a base (101), a base top plate (1011), a base side plate (1012), a scapulothorax joint drive device (102), a first motor (1021), a first reducer (1022), a glenohumeral joint drive device (103), a second motor (1031), a second reducer (1032), a unidirectional winding (104), a first unidirectional roller (1041), a second unidirectional roller (1042), a bidirectional antagonistic winding (105), a first bidirectional roller (1051), a second bidirectional roller (1052), a first shoulder pulley group (106), a second shoulder pulley group (107), a first scapulothorax pulley group (108), and a second scapulothorax pulley group (109).

[0052] The drive ropes include: No. 1 antagonistic drive rope (401), No. 2 antagonistic drive rope (402), No. 1 shoulder drive line (403), No. 2 shoulder drive line (404), No. 3 shoulder drive line (405), and No. 4 shoulder drive line (406). Detailed Implementation

[0053] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. It should be noted that the described embodiments are merely some embodiments of the present invention, and not all embodiments. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this invention.

[0054] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Additionally, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0055] The following is combined Figures 1 to 13 The present invention provides a further detailed description of a rope-driven, decoupled, dual-parallel, five-DOF bionic shoulder joint with specific embodiments.

[0056] like Figure 1 , Figure 2 , Figure 3 As shown, a rope-driven decoupled dual parallel five-degree-of-freedom bionic shoulder joint includes a drive base device (1), a scapulothoracic joint mechanism (2), a glenohumeral joint mechanism (3), and a drive rope (4); wherein the scapulothoracic joint mechanism (2) is a two-degree-of-freedom pure rolling parallel mechanism, and the glenohumeral joint mechanism (3) is a three-degree-of-freedom spherical parallel mechanism.

[0057] The drive base device (1) is used to fix the scapulothoracic joint mechanism (2) and to provide drive ropes (4) for the scapulothoracic joint mechanism (2) and the glenohumeral joint mechanism (3).

[0058] Specifically, the drive rope (4) includes a first antagonistic drive rope (401) and a second antagonistic drive rope (402) for driving the scapulothoracic joint mechanism (2); the drive rope (4) also includes a first shoulder drive line (403), a second shoulder drive line (404), a third shoulder drive line (405), and a fourth shoulder drive line (406) for driving the glenohumeral joint mechanism (3); the drive form of the drive rope (4) is parallel drive.

[0059] Specifically, such as Figure 2 As shown, the scapulothoracic joint mechanism (2) includes a static platform device (21), an intermediate moving platform device (22), a first constraint branch (23), a second constraint branch (24), and a decoupling through-line branch (25).

[0060] Specifically, such as Figure 4As shown, the glenohumeral joint mechanism (3) includes a first shoulder universal joint (31), a second shoulder universal joint (32), a shoulder output flange (33), and a universal joint (34). The first shoulder universal joint (31) has bearings arranged in an orthogonal direction, with one pair of bearings aligned with the first shoulder axis (311) and the other pair aligned with the second shoulder axis (312). The second shoulder universal joint (32) is rotatably connected to the first shoulder universal joint (31), with its rotation center at the second shoulder axis (312). The internal bearing of the shoulder output flange (33) is rotatably connected to the second shoulder universal joint (32), with its center aligned with the third shoulder axis (321). The first shoulder axis (311), the second shoulder axis (312), and the third shoulder axis (321) intersect at a single point and are orthogonal to each other, enabling the glenohumeral joint mechanism (3) to achieve three-degree-of-freedom spherical motion. Universal joints (34) are fixedly installed near the four vertices of the shoulder output flange (33) and connected to the drive rope (4). In addition, the shoulder output flange (33) is used to connect to the part below the shoulder joint of the humanoid robotic arm.

[0061] Specifically, the drive base device (1) includes a base (101), the base (101) includes a base top plate (1011) and two base side plates (1012), a scapulothoracic joint drive device (102), a glenohumeral joint drive device (103), four unidirectional windings (104), two bidirectional antagonistic windings (105), and a first shoulder pulley group (106), a second shoulder pulley group (107), a first scapulothoracic pulley group (108), and a second scapulothoracic pulley group (109); the unidirectional windings (104) include two first unidirectional rollers (1041) and two second unidirectional rollers (1042), and the bidirectional antagonistic windings (105) include a first bidirectional roller (1051) and a second bidirectional roller (1052).

[0062] More specifically, such as Figure 5As shown, the drive base device (1) and the scapulothoracic joint mechanism (2) are fixedly connected through the static platform base (211) and the base top plate (1011). The base top plate (1011) and the two base side plates (1012) are fixedly connected. There are two sets of scapulothoracic joint drive devices (102), each containing a first motor (1021) and a first reducer (1022), which are installed below the drive base device (1). The output ends of the two scapulothoracic joint drive devices (102) are fixedly connected to the first bidirectional roller (1051) and the second bidirectional roller (1052), respectively. There are four sets of glenohumeral joint drive devices (103), each containing a second motor (1031) and a second reducer (1032). The output ends of the glenohumeral joint drive devices (103) are fixedly connected to the two first unidirectional rollers (1041) and the two second unidirectional rollers (1042), respectively. The speed ratio of the reducer can be configured according to the number of turns of the drive rope (4) on the rigid passive mechanism. When the number of turns is large, a reducer with a large reduction ratio is equipped.

[0063] Specifically, such as Figure 7 As shown, the static platform device (21) includes a static platform base (211), a compound pulley system (212), and a first static platform shaft (2111) and a second static platform shaft (2112) arranged along one side of the static platform base (211), with a mirror image arrangement on the other side. The static platform base (211) is assembled to facilitate the installation of the rotating joint on the second static platform shaft (2112), i.e., the central loop-shaped rod is fixed to the rods with kinematic joints on both sides by screws. The central axis (2113) of the static platform passes through the center of the static platform base (211), is parallel to the first static platform shaft (2111), and is perpendicular to the axis of the second static platform shaft (2112). All of the aforementioned axes are located within the same reference plane of the static platform device (21).

[0064] Specifically, the composite pulley assembly (212) includes a pulley mounting bracket (2121), a rope auxiliary bracket (2122), a pulley (2123), and a redirection sleeve (2124). The composite pulley assembly (212) is rotatably mounted on the static platform base (211) via the pulley mounting bracket (2121), so that the center of the pulley (2123) is also located on the reference plane. The pulley (2123) is mounted on the pulley mounting bracket (2121) and can swing with the composite pulley assembly (212). The rope auxiliary bracket (2122) is hinged to the pulley mounting bracket (2121), and its rotation center is consistent with the pulley's rotation axis. The center of the redirection sleeve (2124) is offset from the center of the pulley, and the edge of the sleeve is always tangent to the rotation axis of the pulley mounting bracket (2121). There are four composite pulley blocks (212), which are arranged in pairs. One pair is arranged on both sides of the static platform base (211), and the other pair is arranged on the oblique side. The line connecting the centers of each pair of pulleys (2123) passes through the center of the static platform base (211).

[0065] Specifically, such as Figure 6 As shown, the intermediate moving platform device (22) includes an intermediate moving platform base (221), a first moving platform shaft (2211), a second moving platform shaft (2212), a moving platform central axis (2213), a shoulder universal axis (2214), a moving pulley block (222), and a universal guide wheel device (223). The intermediate moving platform base (221) is also assembled, similar to the static platform base (211). A first moving platform shaft (2211) and a second moving platform shaft (2212) are arranged along one side of the intermediate moving platform base (221), and mirrored on the other side. The moving platform central axis (2213) passes through the center of the intermediate moving platform base (221) and is parallel to the axis of the first moving platform shaft (2211) and perpendicular to the axis of the second moving platform shaft (2212). All of the aforementioned axes are located within the same reference plane of the central moving platform. The universal guide wheel device (223) is rotatably connected to the intermediate moving platform base (221), and the rotation axis is the central axis (2213) of the moving platform. There are four universal guide wheels (223) in total, which are arranged in series in pairs and connected to both sides of the intermediate moving platform base (221) along the central axis (2213) of the moving platform.

[0066] The scapulothoracic joint mechanism (2) and the glenohumeral joint mechanism (3) are rotatably connected to the first shoulder universal joint (31) through the intermediate moving platform device (22), and the rotation center axis is the first shoulder axis (311).

[0067] Specifically, the movable pulley assembly (222) includes a pulley mounting frame (2221), a rope auxiliary frame (2222), and pulleys (2223). The movable pulley assembly (222) is rotatably mounted on the intermediate movable platform base (221) via the pulley mounting frame (2221), so that the center of the pulley (2223) is also located on the reference plane. The pulley (2223) is mounted on the pulley mounting frame (2221) and can swing with the movable pulley assembly (222). The rope auxiliary frame (2222) is hinged to the pulley mounting frame (2221), and its rotation center is consistent with the rotation axis of the pulley (2223). There are four movable pulley assemblies (222), which are arranged in pairs. One pair is arranged on both sides of the intermediate movable platform base (221), and the other pair is arranged on the oblique side. The line connecting the centers of each pair of pulleys (2223) passes through the center of the intermediate movable platform base (221). The movable pulley group (222) and the compound pulley group (212) form four pairs of pulley groups.

[0068] Specifically, such as Figure 8 As shown, the first constraint branch (23) includes a first link (231), a second link assembly (232), a third link assembly (233), and a fourth link (234). The second link assembly (232) and the third link assembly (233) are rotatably connected. The first link (231) and the second link assembly (232) are rotatably connected along the length of the link. The third link assembly (233) and the fourth link (234) are similarly connected. This arrangement forms a ball joint between the first link (231) and the fourth link (234). Each end of the first link (231) and the fourth link (234) has a first link hole (2311) and a fourth link hole (2341).

[0069] Specifically, such as Figure 9 As shown, the second constraint branch (24) includes link 5 (241), link 6 (242), and link 7 (243), wherein the two ends of link 6 (242) are hinged to link 5 (241) and link 7 (243) respectively. The axes of the two rotation joints at the two ends of link 5 (241) intersect perpendicularly, and the same applies to link 7 (243). The axes of the two rotation joints at the two ends of link 6 (242) intersect.

[0070] Specifically, the static platform base (211) and the intermediate moving platform base (221) are connected by two first constraint branches (23) and two second constraint branches (24). The two first constraint branches (23) connect to both sides of the static platform base (211) and the intermediate moving platform base (221), for example, the first static platform shaft (2111) and the first moving platform shaft (2211) are hinged to the first connecting rod hole (2311) and the fourth connecting rod hole (2341), respectively. The two ends of the two second constraint branches (24) are hinged to the static platform base (211) and the central moving platform, and the axes of the fifth connecting rod hole (2411) and the sixth connecting rod hole (2421) are aligned with the central axis of the static platform (2113) and the central axis of the moving platform (2213). The two second constraint branches (24) are arranged facing each other to ensure that the rods and joints do not interfere with each other.

[0071] More specifically, the dimensions of the first constraint branch (23) and the second constraint branch (24), the offset of the rotation angle on the branch and the configuration of the kinematic pair are all symmetrical with respect to the kinematic pair or the middle branch. The first constraint branch (23) and the second constraint branch (24) in this invention can be combined to meet the requirements of pure rolling motion, in other words, to imitate the two-degree-of-freedom pure rolling motion of the scapulothoracic joint.

[0072] Example 1 (Two constraint branches: two first constraint branches + one second constraint branch): Based on the intermediate moving platform device (22) and the static platform device (21), two first constraint branches (23) and one second constraint branch (24) are added. The first link hole (2311) of the first constraint branch (23) is hinged to the first static platform shaft (2111) of the static platform device (21), and the fourth link hole (2341) is hinged to the first moving platform shaft (2211) of the intermediate moving platform device (22). The other branch is arranged on the opposite side in the same way. The fifth link hole (2411) of the second constraint branch (24) is hinged to the second static platform shaft (2112) of the static platform device (21), and the end of the seventh link away from the sixth link is hinged to the second moving platform shaft (2212) of the intermediate moving platform device (22) through a rotating joint. This combination provides non-intersecting, linearly independent constraint forces within the three hemispherical rolling planes, equivalent to two linearly independent constraint forces in the plane and a couple perpendicular to the plane. It also includes a constraint force perpendicular to the rolling plane (passing through the center of the intermediate moving platform device (22) and the center of the stationary platform device (21)), enabling two-degree-of-freedom pure rolling motion of the intermediate moving platform device (22) relative to the stationary platform device (21). This is only a simplified alternative for low-load scenarios (no redundant constraints, stiffness and load-bearing capacity are lower than the preferred solution), suitable for scenarios with lower load requirements. In addition, topology can be modified (topology expansion requires preserving the constraint characteristics of the pure rolling mechanism), for example, by placing the second constraint branch (24) opposite each other, or by mirroring the second constraint branch (24).

[0073] Preferably, based on the intermediate moving platform device (22) and the static platform device (21), two first constraint branches (23) and two second constraint branches (24) are added to provide constraint forces on four hemispherical rolling surfaces that do not intersect at a point. This will generate over-constraint. In addition, there are two overlapping constraint forces perpendicular to the rolling surface, which pass through the center of the intermediate moving platform device (22) and the center of the static platform device (21). Alternatively, the two opposing second constraint branches (24) can be combined with the two first constraint branches (23) (if combined with one first constraint branch, it is only suitable for low load-bearing scenarios and needs to match the technical parameters of Embodiment 1). The arrangement in this invention (two first constraint branches + two second constraint branches) can provide constraint forces on four hemispherical rolling surfaces that do not intersect at a point and two overlapping constraint forces perpendicular to the rolling surface. It is an over-constrained two-rotation mechanism. The redundant constraint forces can disperse external loads and suppress vibrations, and are suitable for high load-bearing scenarios.

[0074] Specifically, in the drive section of the scapulothoracic joint mechanism (2), the static platform device (21) and the intermediate moving platform device (22) are connected by four cables. Each cable passes over three pulleys (2123) in the composite pulley group (212) and two pulleys (2223) in the moving pulley group (222), and is fixed to the pulley mounting bracket (2121, 2221) so that each single-sided drive rope (4) is four turns, thereby amplifying the driving force and the stiffness by a factor of two.

[0075] More specifically, in the drive section of the scapulothoracic joint mechanism (2), in the two pairs of cables of the static platform device (21) and the intermediate moving platform device (22) (corresponding to the single-sided cables of the first antagonistic drive rope 401 and the second antagonistic drive rope 402), since the center of the pulleys (2123, 2223) that crosses the pulleys are always kept on the central reference plane of the static platform device (21) and the intermediate moving platform device (22), when the intermediate moving platform device (22) performs a spherical pure rolling motion relative to the static platform device (21), the single-sided elongation and single-sided contraction of each pair of cables are the same, so that the total length of each pair of cables remains unchanged, so that when the cable is driven, the number of motors is the same as the number of degrees of freedom of the mechanism, thus reducing the number of motors.

[0076] Specifically, such as Figure 10 As shown, the universal wire guide wheel device (223) includes a pulley rod (2231), a bearing seat (2232), a wire guide frame (2233), and a tilting pulley (2234). The tilting pulley (2234) is fixedly installed in the pulley rod (2231). The wire guide frame (2233) is rotatably connected to the pulley rod (2231). The rotating shaft passes through the center of the tilting pulley (2234). The pulley rod (2231) and the bearing seat (2232) are rotatably connected through the bearing, which drives the pulley and the wire guide frame (2233) to rotate around the tilting reference line (2235). The installation axis of the swing pulley (2234) is offset from the swing reference line (2235), so that the edge of the pulley always coincides with the swing reference line (2235). The rope can pass through the bearing seat (2232) and enter the groove of the swing pulley (2234). After passing through the groove, the rope passes through the hole in the cable guide frame (2233), so that the direction of the output rope can be adjusted arbitrarily.

[0077] Specifically, such as Figure 11As shown, the decoupled cable-passing branch (25) includes a first movable cable-passing device (251), a second movable cable-passing device (253), and an intermediate constraint link (252). The first movable cable-passing device (251) is rotatably connected to the static platform device (21), and the second movable cable-passing device (253) is rotatably connected to the intermediate moving platform device (22). The first rotation reference line (2511) passes through the center of the first movable cable-passing device (251) and is aligned with the central axis (2113) of the static platform. The second rotation reference line (2531) passes through the center of the second movable cable-passing device (253) and is aligned with the central axis (2213) of the moving platform. The two ends of the intermediate constraint link (252) are hinged to the first movable cable-passing device (251) and the second movable cable-passing device (253) respectively, so that when the above devices pass the cable, the single cable always remains in the same plane.

[0078] More specifically, the first movable line guide device (251) and the second movable line guide device (253) are two identical components, with a central decoupling pulley group (2532) hinged side by side at the center of the components. The central decoupling pulley group (2532) contains four grooved pulleys, and the distance between the centers of the two devices remains constant at any position. When the first movable line guide device (251) and the second movable line guide device (253) have relative sway, in the driving part of the glenohumeral joint mechanism (3), the additional rope length wrapped on one side of the central decoupling pulley group (2532) can be offset by the reduced rope length wrapped on the other side of the central decoupling pulley group (2532), which can satisfy the decoupling line guide of the pure rolling mechanism in the plane, where the rope driving the glenohumeral joint is in a semi-figure-eight winding manner. Taking the first movable cable guide device (251) as an example, the first redirection cable guide wheel group (2533) and the second redirection cable guide wheel group (2534) are also hinged on both sides, and each of them contains two pulleys. The center of the pulley is offset from the first rotation reference line (2511), so that when the rope is output from both sides of the first movable cable guide device (251), it is along the center of the first rotation reference line (2511). The second movable cable guide device (253) is similar. The pulley of the first redirection cable guide wheel group (2533) is a U-shaped groove pulley with a smaller groove, and the second redirection cable guide wheel group (2534) is a V-shaped groove pulley with a larger groove, which facilitates the transmission of parallel cables without interference. The pulley grooves in the first redirection cable guide wheel group (2533) and the second redirection cable guide wheel group (2534) are aligned with the center to decouple the pulley grooves in the pulley group (2532).

[0079] Specifically, such as Figure 12As shown, in the drive section of the glenohumeral joint mechanism (3), the decoupled through-wire branch (25) has four cables inside, including the first shoulder drive line (403), the second shoulder drive line (404), the third shoulder drive line (405), and the fourth shoulder drive line (406). The winding steps of the No. 1 shoulder drive line (403) are as follows: First, after being led out from the drive source, it first passes around the pulley near the cable entry side of the No. 2 redirection pulley group (2534) of the No. 1 movable cable guide device (251); Second, it passes around the first pulley of the central decoupling pulley group (2532) on the No. 1 movable cable guide device (251); Third, it extends to the No. 2 movable cable guide device (253) and passes around the first pulley of the central decoupling pulley group (2532) on it; Fourth, it passes around the pulley near the cable exit side of the No. 2 redirection pulley group (2534) of the No. 2 movable cable guide device (253) to complete the winding of the No. 1 shoulder drive line (403) in the decoupling cable guide branch (25). Similarly, for the second shoulder drive line (404), when only winding the line, select the pulley on the other side of the second redirection line pulley group (2534) and the fourth pulley of the center decoupling pulley group (2532). The winding steps of the No. 3 shoulder drive line (405) are as follows: First, after being led out from the drive source, it first passes around the pulley near the cable entry side of the No. 1 redirection pulley group (2533) of the No. 1 movable cable guide device (251); Second, it passes around the third pulley of the central decoupling pulley group (2532) on the No. 1 movable cable guide device (251); Third, it extends to the No. 2 movable cable guide device (253) and passes around the third pulley of the central decoupling pulley group (2532) on it; Fourth, it passes around the pulley near the cable exit side of the No. 1 redirection pulley group (2533) of the No. 2 movable cable guide device (253) to complete the winding of the No. 3 shoulder drive line (405) in the decoupling cable guide branch (25). Similarly, for the fourth shoulder drive line (406), when only winding the line, select the pulley on the other side of the first redirecting line pulley group (2533) and the second pulley of the center decoupling pulley group (2532).

[0080] Specifically, in the drive section of the glenohumeral joint mechanism (3), the first shoulder drive line (403), the second shoulder drive line (404), the third shoulder drive line (405), and the fourth shoulder drive line (406) pass through the corresponding universal guide wheel device (223) via the above-mentioned winding method and are then connected to the universal joint (34). The first shoulder drive line (403) and the third shoulder drive line (405) pass through the universal guide wheel device (223) at the proximal end of the intermediate moving platform base (221), while the second shoulder drive line (404) and the fourth shoulder drive line (406) pass through the universal guide wheel device (223) at the distal end of the intermediate moving platform base (221).

[0081] Specifically, such as Figure 13 As shown, the cable winding method in the drive base device (1) is as follows: the first antagonistic drive rope (401) passes around the first scapula-thorax pulley group (108) and is fixed to the first bidirectional roller (1051), and the second antagonistic drive rope (402) passes around the second scapula-thorax pulley group (109) and is fixed to the second bidirectional roller (1052). The two sections of the first antagonistic drive rope (401) are wound in opposite directions and fall in different wire grooves to achieve antagonistic drive, and the second antagonistic drive rope (402) is similar. The first shoulder drive line (403) passes around the first shoulder pulley group (106) and is fixed to the first unidirectional roller (1041) on the base side plate (1012) close to the pulley group, and the third shoulder drive line (405) is similar. The second shoulder drive line (404) passes around the second shoulder pulley group (107) and is fixed to the second unidirectional roller (1042) on the base side plate (1012) close to the pulley group. The fourth shoulder drive line (406) is similar.

[0082] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A rope-driven, decoupled, dual-parallel, five-DOF bionic shoulder joint, characterized in that, include: A drive base device (1); a two-degree-of-freedom pure rolling parallel mechanism, as a scapulothoracic joint mechanism (2), is fixedly installed on the drive base device (1); the scapulothoracic joint mechanism (2) includes a decoupling line branch (25) for realizing rope path decoupling; a three-degree-of-freedom spherical parallel mechanism, as a glenohumeral joint mechanism (3), the input end of which is rotatably connected to the output end of the scapulothoracic joint mechanism (2); In addition, multiple drive ropes (4) are driven out in parallel by multiple sets of drive devices provided on the drive base device (1) and connected to the scapulothoracic joint mechanism (2) and the glenohumeral joint mechanism (3) respectively, wherein the drive rope (4) driving the glenohumeral joint mechanism (3) passes through the decoupled overline branch (25). The scapulothoracic joint mechanism (2) and the glenohumeral joint mechanism (3) are decoupled from each other in kinematics and drive path through the decoupled overline branch (25).

2. The cable-driven decoupled dual-parallel five-DOF bionic shoulder joint according to claim 1, characterized in that, The scapulothoracic joint mechanism (2) includes: a static platform device (21), which is fixedly connected to the drive base device (1); and an intermediate moving platform device (22), which is connected to the static platform device (21) through at least three constraint branches and can perform two-degree-of-freedom pure rolling motion relative to the static platform device (21) under the guidance of the constraint branches. In addition, a decoupled over-line branch (25) is connected between the static platform device (21) and the intermediate moving platform device (22); wherein the drive rope (4) for driving the scapulothoracic joint mechanism (2) is wound around the pulley group on the static platform device (21) and the intermediate moving platform device (22) to form a multi-turn winding.

3. The cable-driven decoupled dual-parallel five-DOF bionic shoulder joint according to claim 2, characterized in that, The at least three constraint branches include at least two first constraint branches (23) and at least one second constraint branch (24), or include at least one first constraint branch (23) and at least two second constraint branches (24); the two ends of the first constraint branch (23) and the second constraint branch (24) are respectively hinged to the static platform device (21) and the intermediate moving platform device (22), and the rod size and joint configuration of the first constraint branch (23) and the second constraint branch (24) are symmetrical with respect to the tangent plane formed by the two center planes of the static platform device (21) and the intermediate moving platform device (22) when they are the bottom surfaces of two virtual hemispheres, and the line connecting the centers of the two planes is the diameter of the two virtual hemispheres, so that the movement of the intermediate moving platform device (22) relative to the static platform device (21) is constrained to pure rolling motion.

4. The cable-driven decoupled dual-parallel five-DOF bionic shoulder joint according to claim 2, characterized in that, The static platform device (21) is provided with a composite pulley group (212), and the intermediate moving platform device (22) is provided with a moving pulley group (222). The driving rope (4) used to drive the scapulothoracic joint mechanism (2) passes through multiple pulleys (2123) of the composite pulley group (212) and multiple pulleys (2223) of the moving pulley group (222) in sequence to form multiple turns of winding, so as to amplify the driving force and improve the rigidity of the mechanism.

5. The cable-driven decoupled dual-parallel five-DOF bionic shoulder joint according to claim 2, characterized in that, The decoupling cable-passing branch (25) includes: a first movable cable-passing device (251), which is rotatably connected to the static platform device (21), with its rotation center aligned with the central axis (2113) of the static platform; a second movable cable-passing device (253), which is rotatably connected to the intermediate moving platform device (22), with its rotation center aligned with the central axis (2213) of the moving platform; an intermediate constraint link (252), whose two ends are respectively hinged to the first movable cable-passing device (251) and the second movable cable-passing device (253); and a central decoupling pulley group (2532), which is respectively disposed on the first movable cable-passing device (251) and the second movable cable-passing device (253); and the two groups of central decoupling pulley groups (2532) are symmetrically arranged with the axis of the intermediate constraint link (252) as the reference, for guiding the drive rope (4) driving the glenohumeral joint mechanism (3). The drive rope (4) used to drive the glenohumeral joint mechanism (3) passes through the two sets of central decoupled pulley groups (2532) to compensate for the change in the path length of the rope when the scapulothoracic joint mechanism (2) moves.

6. The cable-driven decoupled dual-parallel five-DOF bionic shoulder joint according to claim 5, characterized in that, The first movable wire guide device (251) and the second movable wire guide device (253) are respectively provided with a first redirecting wire guide wheel group (2533) and a second redirecting wire guide wheel group (2534); the central decoupling pulley group (2532) is located between the first redirecting wire guide wheel group (2533) and the second redirecting wire guide wheel group (2534) on the same movable wire guide device, and the pulley grooves of the first redirecting wire guide wheel group (2533) and the second redirecting wire guide wheel group (2534) are aligned with the pulley grooves of the central decoupling pulley group (2532), which is used to guide the drive rope (4) driving the glenohumeral joint mechanism (3) into the central decoupling pulley group (2532), and after the rope passes through the central decoupling pulley group (2532), it is directed to the subsequent universal wire guide wheel device (223).

7. The cable-driven decoupled dual-parallel five-DOF bionic shoulder joint according to claim 1, characterized in that, The glenohumeral joint mechanism (3) includes: a first shoulder universal joint (31), which is rotatably connected to the intermediate moving platform device (22) via a first shoulder axis (311); a second shoulder universal joint (32), which is rotatably connected to the first shoulder universal joint (31) via a second shoulder axis (312); and a shoulder output flange (33), which is rotatably connected to the second shoulder universal joint (32) via a third shoulder axis (321); wherein the first shoulder axis (311), the second shoulder axis (312) and the third shoulder axis (321) intersect at a point and are orthogonal to each other, forming the three-degree-of-freedom spherical kinematic pair.

8. The cable-driven decoupled dual-parallel five-DOF bionic shoulder joint according to claim 7, characterized in that, Multiple universal joints (34) are installed on the shoulder output flange (33) for connecting the part of the drive rope (4) that drives the glenohumeral joint mechanism (3); the intermediate moving platform device (22) is provided with a universal guide wheel device (223) for guiding the drive rope (4) from the decoupled guide branch (25) to the universal joint (34).

9. The cable-driven decoupled dual-parallel five-DOF bionic shoulder joint according to claim 1, characterized in that, The drive base device (1) includes: a base (101); two sets of scapulothoracic joint drive devices (102), the output ends of which are connected to bidirectional antagonistic windings (105), the bidirectional antagonistic windings (105) including two wire grooves with opposite winding directions, for winding and releasing the first antagonistic drive rope (401) and the second antagonistic drive rope (402) that drive the scapulothoracic joint mechanism (2); and four sets of glenohumeral joint drive devices (103), the output ends of which are connected to unidirectional windings (104), for independently winding and releasing the first shoulder drive line (403), the second shoulder drive line (404), the third shoulder drive line (405) and the fourth shoulder drive line (406) that drive the glenohumeral joint mechanism (3).

10. The cable-driven decoupled dual-parallel five-DOF bionic shoulder joint according to claim 9, characterized in that, The bidirectional antagonistic winding (105) includes a first bidirectional roller (1051) and a second bidirectional roller (1052), each containing two grooves with opposite winding directions to achieve antagonistic drive of the two degrees of freedom of the scapulothoracic joint mechanism (2); the base (101) is also provided with multiple sets of fixed pulleys, including a first shoulder pulley set (106), a second shoulder pulley set (107), a first scapulothoracic pulley set (108) and a second scapulothoracic pulley set (109), for guiding and orienting the drive rope (4) from the drive base device (1) to the scapulothoracic joint mechanism (2) and the glenohumeral joint mechanism (3).

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