A cable-driven tensegrity joint seven-degree-of-freedom humanoid manipulator

Abstract

A cable-driven tensegrity joint seven-degree-of-freedom humanoid manipulator belongs to the technical field of seven-degree-of-freedom humanoid manipulators. All shoulder joint motors, elbow joint motors and wrist joint motors are fixedly installed at the inner bottom of the console. The shoulder joint is fixedly installed on the upper platform of the console. The top of the shoulder joint is fixedly connected to the bottom end of the support frame. The top of the support frame is fixedly connected to the bottom end of the elbow joint. The top of the elbow joint is fixedly connected to the bottom end of the wrist joint through four second support columns. The active rope of the shoulder joint of the shoulder joint is driven by the shoulder joint motor to realize three degrees of freedom of the shoulder joint. The active rope of the elbow joint of the elbow joint is driven by the elbow joint motor to realize one degree of freedom of the elbow joint. The active rope of the wrist joint of the wrist joint is driven by the wrist joint motor to realize two degrees of freedom of the wrist joint. The manipulator of the present invention uses tensegrity joints instead of rigid joints, and has the advantages of high efficiency, shock resistance, environmental disturbance resistance, adjustable stiffness, small mass, low cost, etc., and can meet the requirements under specific working conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of seven-degree-of-freedom humanoid robotic arms, and particularly relates to a seven-degree-of-freedom humanoid robotic arm that uses tensegrity joints to replace traditional rigid joints and is driven by ropes for movement. Background Art

[0002] With the continuous development of robot technology, ordinary six-degree-of-freedom serial robots cannot meet the working scenarios with special situations. For example, a six-degree-of-freedom welding robot sometimes cannot bypass the object to be welded for welding. A seven-degree-of-freedom robotic arm is more in line with the degree-of-freedom situation of the human arm. The human arm includes three degrees of freedom of the shoulder joint, one degree of freedom of the elbow joint, one degree of freedom of the elbow-wrist joint, and two degrees of freedom of the wrist joint. During the process of designing a robotic arm by analogy with the human arm, one rotational degree of freedom of the human elbow-wrist joint and two degrees of freedom of the human wrist joint are combined to design a robotic arm wrist joint, forming three degrees of freedom like the shoulder joint of the robotic arm, for a total of seven degrees of freedom. Such a seven-degree-of-freedom robotic arm has advantages such as a large working space and strong obstacle avoidance ability.

[0003] Existing seven-degree-of-freedom serial robotic arms mostly use rigid rotating joints. Since each rotating joint needs to be driven by adding a motor, the existing seven-degree-of-freedom serial robotic arms using rigid joints have disadvantages such as low energy utilization efficiency, small load-to-self-weight ratio, and joint wear during long-term operation.

[0004] The invention patent application with the publication number CN115488873A discloses "a rope-driven variable stiffness seven-degree-of-freedom robotic arm with few inputs". This robotic arm is designed with a three-degree-of-freedom shoulder joint, a single-degree-of-freedom elbow joint, and a three-degree-of-freedom wrist joint. It uses a rope drive method to change the stiffness of the joint by adjusting the tension of the rope. However, in the joint design, it uses a combination of a two-degree-of-freedom rotating component and a single-degree-of-freedom rotating component, and still uses rigid rotating joints for connection, resulting in a small load-to-self-weight ratio and weak impact resistance, and joint wear will occur during long-term operation. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems in the background art and provide a rope-driven tensegrity joint seven-degree-of-freedom humanoid robotic arm.

[0006] The seven-degree-of-freedom humanoid robotic arm of the present invention uses tensegrity joints to replace rigid joints. The tensegrity joints installed with passive ropes have advantages such as high efficiency, impact resistance, wear resistance, environmental disturbance resistance, adjustable stiffness, small mass, and low cost. Although there are disadvantages such as low motion accuracy, they can be applied in shaft-hole installation occasions with relatively low motion accuracy requirements.

[0007] The cable-driven tensegrity joint seven-degree-of-freedom humanoid robotic arm of the present invention can effectively imitate the structural skeletal system of an animal body through reasonable structural design and control, better help us understand the working principle of the human arm, and even achieve or exceed the capabilities of biological characteristics. Such research has a promoting effect in multiple disciplines and fields such as rehabilitation medicine, bionics, and artificial intelligence.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] A cable-driven tensegrity joint seven-degree-of-freedom humanoid robotic arm includes a robotic arm main body, a control console, and twelve motors; the robotic arm main body includes a shoulder joint, an elbow joint, a wrist joint, a support frame, and four support columns two; the twelve motors include six shoulder joint motors, two elbow joint motors, and four wrist joint motors;

[0010] The twelve motors are detachably and fixedly installed at the inner bottom of the control console. The shoulder joint is detachably and fixedly installed on the upper platform of the control console. The top end of the shoulder joint is fixedly connected to the bottom end of the support frame. The top end of the support frame is fixedly connected to the bottom end of the elbow joint. The top end of the elbow joint is fixedly connected to the bottom end of the wrist joint through four support columns two. The six active shoulder ropes of the shoulder joint are driven by six shoulder joint motors to achieve three rotational degrees of freedom of the shoulder joint. The two active elbow ropes of the elbow joint are driven by two elbow joint motors to achieve one rotational degree of freedom of the elbow joint. The four active wrist ropes of the wrist joint are driven by four wrist joint motors to achieve two rotational degrees of freedom of the wrist joint.

[0011] Furthermore, the shoulder joint includes a shoulder joint base, an upper movable body of the shoulder joint, four passive shoulder ropes, six active shoulder ropes, and four shoulder joint pre-tightening devices;

[0012] The shoulder joint base is detachably and fixedly installed on the upper platform of the console. A central hole 1 is provided in the middle of the shoulder joint platform of the shoulder joint base. Three convex platforms 1 are evenly distributed on the upper end surface of the shoulder joint platform at the edge of the central hole. A rope-passing hole 1 is provided in the middle of each convex platform 1. The upper movable body of the shoulder joint is arranged above the central hole 1 of the shoulder joint platform. The center of the bottom of the upper movable body of the shoulder joint is connected to one end of four shoulder joint passive ropes. The other end of one of the shoulder joint passive ropes is vertically connected to one of the shoulder joint pre-tightening devices, and this shoulder joint pre-tightening device is fixed on the shoulder joint support of the shoulder joint base; the other ends of the remaining three shoulder joint passive ropes pass through their respective corresponding rope-passing holes 1 and are fixedly connected to the remaining three shoulder joint pre-tightening devices, and these three shoulder joint pre-tightening devices are fixed on the upper end surface of the shoulder joint platform; an out-rope hole 1 is provided on the outside of the shoulder joint platform between every two adjacent rope-passing holes 1. The three out-rope holes 1 are located on the same circumference. One end of six shoulder joint active ropes is pairwise connected to three end points on the top of the upper movable body of the shoulder joint. The other ends of two adjacent shoulder joint active ropes connected to every two adjacent end points pass through the same corresponding out-rope hole 1. The other end of each shoulder joint active rope is connected to the shoulder joint winch of the corresponding shoulder joint motor, so as to achieve driving.

[0013] Further, after the other ends of two adjacent shoulder joint active ropes connected to every two adjacent end points pass through the same corresponding out-rope hole 1, they then pass through a Y-shaped wire pipe. One end of the Y-shaped wire pipe is fixed at the corresponding out-rope hole 1. The two branch ends of the Y-shaped wire pipe are respectively fixed on the corresponding shoulder joint wire pipe fixing devices, and the shoulder joint wire pipe fixing devices are detachably and fixedly connected to the upper platform of the console.

[0014] Further, the elbow joint includes an elbow joint base, two elbow joint active ropes, an elbow joint pin shaft and an upper movable body of the elbow joint;

[0015] The lower end of the upper movable body of the elbow joint is arranged in the elbow joint base, and the lower end of the upper movable body of the elbow joint is hinged to the elbow joint base through the elbow joint pin shaft. One elbow joint active rope is arranged on each side of the upper movable body of the elbow joint rotating around the elbow joint pin shaft. One end of the two elbow joint active ropes is fixedly connected to the upper movable body of the elbow joint. The other ends of the two elbow joint active ropes pass through two rope holes provided on the elbow joint base and are connected to the elbow joint winches on their respective corresponding elbow joint motors, so as to achieve driving.

[0016] Further, the other ends of the two elbow joint active ropes pass through two rope holes provided on the elbow joint base and two elbow joint wire pipes and are connected to the elbow joint winches on their respective corresponding elbow joint motors. One end of the two elbow joint wire pipes is fixed at their respective corresponding rope holes. The other ends of the two elbow joint wire pipes are fixed on the respective corresponding elbow joint wire pipe fixing devices, and the elbow joint wire pipe fixing devices are detachably fixed on the upper platform of the console.

[0017] Furthermore, the wrist joint includes a wrist joint base, an upper movable body of the wrist joint, four active ropes of the wrist joint, three pre-tightening devices of the wrist joint, and four passive ropes of the wrist joint;

[0018] The wrist joint base is detachably fixed to the tops of four support columns II. A central hole II is provided in the middle of the wrist joint platform of the wrist joint base. Three sections of convex platforms II are evenly distributed on the upper end surface of the wrist joint platform at the edge of the central hole II. Each section of convex platform II is provided with a rope-passing hole II in the middle. The upper movable body of the wrist joint is arranged above the central hole II of the wrist joint platform. The center of the bottom of the upper movable body of the wrist joint is connected to one end of four passive ropes of the wrist joint. The other end of one of the passive ropes of the wrist joint is vertically connected to one of the pre-tightening devices of the wrist joint, and this pre-tightening device of the wrist joint is fixed on the wrist joint support of the wrist joint base; the other ends of the remaining three passive ropes of the wrist joint pass through their respective corresponding rope-passing holes II and are fixedly connected to the remaining three pre-tightening devices of the wrist joint, and these three pre-tightening devices of the wrist joint are fixed on the upper end surface of the wrist joint platform; four rope-out holes II are evenly distributed on the wrist joint platform near the outside. One end of four active ropes of the wrist joint is pairwise connected to two end points at the top of the upper movable body of the wrist joint. The other ends of the four active ropes of the wrist joint pass through the corresponding rope-out holes II and are connected to the wrist joint winches on the corresponding wrist joint motors, so as to achieve driving.

[0019] Furthermore, the other ends of the four active ropes of the wrist joint pass through the four rope-out holes II of the wrist joint base and four wrist joint wire conduits and are connected to the wrist joint winches on their respective corresponding wrist joint motors. One end of the four wrist joint wire conduits is fixed at their respective corresponding rope-out holes II, and the other ends of the four wrist joint wire conduits are fixed on their respective corresponding wrist joint wire conduit fixing devices. The wrist joint wire conduit fixing devices are detachably fixed on the upper platform of the console.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: The humanoid robotic arm of the present invention realizes seven degrees of freedom, enabling the robotic arm to rotate around the straight line where the shoulder-wrist connection point is located on the basis of a given end position and attitude, realizing an obstacle avoidance function; using a tensegrity structure to replace the traditional rigid joint, by intersecting the four passive ropes at one point, the fixed object has three rotational degrees of freedom in space, greatly reducing the weight of the joint and greatly reducing the risk of joint wear. In addition, since the drive motors are all located at the console, there is no need to arrange motors on the main body of the robotic arm, and the material of the robotic arm can also be wood or plastic, achieving the purpose of light weight and low cost; this installation method of the passive rope can withstand part of the impact encountered during the movement of the robotic arm, achieving the purpose of anti-impact and anti-environmental interference; adopting a rope drive method can realize force control in the subsequent control process, thereby achieving the purpose of adjustable stiffness.

[0021] During the application process of the humanoid robotic arm of the present invention, an actuator can be added at the end of the robotic arm (i.e., at the wrist joint). This shoulder-elbow-wrist form is closer to the human arm and can better help people understand the movement characteristics of the human arm. In addition, this robotic arm structure can also be applied to the research and development of human prosthetics, which has a promoting effect on the research in the fields of rehabilitation medicine, bionics, artificial intelligence, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is an axonometric view of a cable-driven tensegrity joint seven-degree-of-freedom humanoid robotic arm of the present invention;

[0023] Figure 2 is a front view of a cable-driven tensegrity joint seven-degree-of-freedom humanoid robotic arm of the present invention;

[0024] Figure 3 is Figure 2 a sectional view taken along the A-A section of

[0025] Figure 4 is an axonometric view of the elbow joint;

[0026] Figure 5 is an axonometric view of the shoulder joint wire tube fixing device, the elbow joint wire tube fixing device or the wrist joint wire tube fixing device Figure 1 ;

[0027] Figure 6 is an axonometric view of the shoulder joint wire tube fixing device, the elbow joint wire tube fixing device or the wrist joint wire tube fixing device Figure 2 ;

[0028] Figure 7 is an axonometric view of the shoulder joint;

[0029] Figure 8 is an axonometric view of the wrist joint;

[0030] Figure 9 is a schematic diagram of the shoulder joint structure. In the figure, the dashed line represents the shoulder joint passive rope, the dash-dotted line represents the shoulder joint active rope, and the solid line represents the shoulder joint base and the upper moving body of the shoulder joint;

[0031] Figure 10 is a schematic diagram of the wrist joint structure. In the figure, the dashed line represents the wrist joint passive rope, the dash-dotted line represents the wrist joint active rope, and the solid line represents the wrist joint base and the upper moving body of the wrist joint.

[0032] The names and reference numerals of the components involved in the above-mentioned drawings are as follows:

[0033] Console 1, Shoulder joint wire tube fixing device 2, Y-shaped wire tube 3, Shoulder joint 4, Elbow joint 5, Wrist joint 6, Wrist joint winch 7, Shoulder joint motor 8, Elbow joint wire tube fixing base 9, Nut 10, Gasket 11, Bolt 12, Fixed connecting piece 13, Shoulder joint base 14, M4 pre-tightening connecting piece 15, Shoulder joint passive rope 16, Shoulder joint active rope 17, Upper movable body of shoulder joint 18, Elbow joint base 19, Elbow joint active rope 20, Elbow joint pin shaft 21, Upper movable body of elbow joint 22, Wrist joint base 23, M3 pre-tightening connecting piece 24, Wrist joint passive rope 25, Wrist joint active rope 26, Upper movable body of wrist joint 27, Connecting plate 28, Four support columns one 29, Support column two 30, Elbow joint motor 31, Wrist joint motor 32, Upper platform 33, Shoulder joint pre-tightening device 34, Shoulder joint platform 35, Boss one 36, Shoulder joint support 37, Shoulder joint winch 38, Shoulder joint wire tube fixing base 39, Shoulder joint wire tube joint 40, Elbow joint winch 41, Elbow joint wire tube 42, Elbow joint wire tube fixing device 43, Wrist joint wire tube 44, Elbow joint wire tube joint 45, Wrist joint platform 46, Boss two 47, Wrist joint pre-tightening device 48, Wrist joint support 49, Wrist joint wire tube fixing device 50, Wrist joint wire tube fixing base 51, Wrist joint wire tube joint 52. Detailed implementation mode

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] Detailed implementation mode one: As Figures 1 - 4 、 Figures 7 - 10 shown, this implementation mode discloses a cable-driven tensegrity joint seven-degree-of-freedom humanoid robot arm, including a robot arm main body, a console 1 and twelve motors; the robot arm main body includes a shoulder joint 4, an elbow joint 5, a wrist joint 6, a support frame and four support columns two 30, and the twelve motors include six shoulder joint motors 8, two elbow joint motors 31 and four wrist joint motors 32;

[0036] Twelve motors are detachably and fixedly installed at the inner bottom of the console 1 (by bolts). The shoulder joint 4 is detachably and fixedly installed on the upper platform 33 of the console 1. The top end of the shoulder joint 4 is fixedly connected to the bottom end of the support frame. The top end of the support frame is fixedly connected to the bottom end of the elbow joint 5 (the support frame includes a connecting plate 28 and four first support columns 29, and the four first support columns 29 are evenly fixed on the upper end surface of the connecting plate 28). The top end of the elbow joint 5 is fixedly connected to the bottom end of the wrist joint 6 through four second support columns 30 (the four second support columns 30 are evenly fixed on the upper end of the movable body 22 of the elbow joint of the elbow joint 5); the six active ropes 17 of the shoulder joint 4 are driven by six shoulder joint motors 8 to realize three rotational degrees of freedom of the shoulder joint 4; the two active ropes 20 of the elbow joint 5 are driven by two elbow joint motors 31 to realize one rotational degree of freedom of the elbow joint 5; the four active ropes 26 of the wrist joint 6 are driven by four wrist joint motors 32 to realize two rotational degrees of freedom of the wrist joint 6.

[0037] Specific Embodiment 2: As Figures 1 - 3 , Figure 7 and Figure 9 shown, this embodiment is a further description of Specific Embodiment 1. The shoulder joint 4 includes a shoulder joint base 14, a shoulder joint upper movable body 18, four shoulder joint passive ropes 16, six shoulder joint active ropes 17 and four shoulder joint pre-tightening devices 34;

[0038] The shoulder joint base 14 (connected by the fixed connecting piece 13) is detachably and fixedly installed on the upper platform 33 of the console 1. A first central hole is provided in the middle of the shoulder joint platform 35 of the shoulder joint base 14. Three (arc-shaped) first bosses 36 are evenly arranged on the upper end surface of the shoulder joint platform 35 at the edge of the central hole. A first rope-passing hole is provided in the middle of each first boss 36. The upper movable body 18 (tetrahedron) of the shoulder joint is arranged above the first central hole of the shoulder joint platform 35. The center of the bottom of the upper movable body 18 of the shoulder joint is connected to one end of four shoulder joint passive ropes 16. The other end of one of the shoulder joint passive ropes 16 is vertically connected to one of the shoulder joint pre-tightening devices 34, and the shoulder joint pre-tightening device 34 is fixed on the shoulder joint support 37 of the shoulder joint base 14 (the shoulder joint base 14 includes the shoulder joint platform 35 and the shoulder joint support 37. The lower end surface of the shoulder joint platform 35 is fixedly connected to the upper end of the shoulder joint support 37, and the shoulder joint support 37 is fixed on the upper platform 33 of the console 1); the other ends of the remaining three shoulder joint passive ropes 16 pass through their respective corresponding first rope-passing holes and are fixedly connected to the remaining three shoulder joint pre-tightening devices 34, and the three shoulder joint pre-tightening devices 34 are fixed on the upper end surface of the shoulder joint platform 35; one first rope-out hole is provided on the outside of the shoulder joint platform 35 between every two adjacent first rope-passing holes. The three first rope-out holes are located on the same circumference. One end of six shoulder joint active ropes 17 is connected in pairs to three end points (the three end points form the three angular points of an equilateral triangle) at the top of the upper movable body 18 of the shoulder joint. The other ends of two adjacent shoulder joint active ropes 17 connected to every two adjacent end points pass through the same corresponding first rope-out hole. The other end of each shoulder joint active rope 17 is connected to the shoulder joint hoist 38 of the corresponding shoulder joint motor 8, so as to achieve driving.

[0039] The shoulder joint pre-tightening device 34 includes a shoulder joint threaded sleeve and an M4 pre-tightening connecting piece 15; the M4 pre-tightening connecting piece 15 is provided with a central cavity. The other end of the shoulder joint passive rope 16 penetrates into the central cavity of the M4 pre-tightening connecting piece 15 and is fixed by a shoulder joint pin shaft connected to the radial hole of the M4 pre-tightening connecting piece 15. The M4 pre-tightening connecting piece 15 is threadedly connected to the shoulder joint threaded sleeve.

[0040] The positions of the four shoulder joint passive ropes 16 are pre-tightened and finely adjusted through the M4 pre-tightening connecting piece 15 by threadedly matching with the shoulder joint threaded sleeve, so that the bottom vertex of the upper movable body 18 (tetrahedron) of the shoulder joint is fixed at a specified position in space. Then, the upper movable body 18 of the shoulder joint has three-direction rotational degrees of freedom around the bottom vertex in space, so as to achieve the three-direction rotational degrees of freedom of the humanoid arm shoulder joint.

[0041] The realization of the three - degree - of - freedom function is achieved by the coordinated contraction or elongation of six shoulder - joint active ropes 17. The six shoulder - joint active ropes 17 are pairwise connected to the three top endpoints of the movable body 18 on the shoulder joint. The six shoulder - joint active ropes 17 pass through the three rope - outlet holes 1 of the shoulder - joint base 14 and are then connected to the shoulder - joint winches 38 of the respective shoulder - joint motors 8 on the control console 1, thus realizing the drive. The six shoulder - joint active ropes 17 are driven by six shoulder - joint motors 8.

[0042] Specific implementation method three: As Figure 1 、 Figures 5 - 7 shown, this implementation method is a further elaboration on the second specific implementation method. After the other ends of two adjacent shoulder - joint active ropes 17 connected to every two adjacent endpoints pass through the same corresponding rope - outlet hole 1, they then pass through the Y - shaped wire conduit 3. One end of the Y - shaped wire conduit 3 is fixed at the corresponding rope - outlet hole 1. The two branch ends of the Y - shaped wire conduit 3 are respectively fixed on the corresponding shoulder - joint wire - conduit fixing devices 2. The shoulder - joint wire - conduit fixing devices 2 are detachably and fixedly connected to the upper platform 33 of the control console 1 (the shoulder - joint wire - conduit fixing device 2 includes a shoulder - joint wire - conduit fixing base 39 and a shoulder - joint wire - conduit joint 40. The shoulder - joint wire - conduit joint 40 is fixed on the shoulder - joint wire - conduit fixing base 39. The branch end of the Y - shaped wire conduit 3 is fixedly connected to the shoulder - joint wire - conduit joint 40. There is a shoulder - joint wire - conduit joint long groove on the upper platform 33 of the control console 1. There are bolt long grooves on both sides of the shoulder - joint wire - conduit joint long groove. The shoulder - joint wire - conduit fixing base 39 is arranged against the lower end face of the upper platform 33 of the control console 1. The shoulder - joint wire - conduit joint passes through the shoulder - joint wire - conduit joint long groove. The shoulder - joint wire - conduit fixing base 39 is fixed on the upper platform 33 of the control console 1 by two bolts 12, two washers 11 and two nuts 10. The two bolts 12 pass through the two bolt long grooves. There is a shoulder - joint active - rope passing hole on the shoulder - joint wire - conduit fixing base 39 that communicates with the shoulder - joint wire - conduit joint 40).

[0043] Since the posture of the robotic arm changes during movement, in order to ensure that the rope length of the shoulder - joint active rope 17 does not change during movement, the method of passing the shoulder - joint active rope 17 through the Y - shaped wire conduit 3 is adopted. One end of the Y - shaped wire conduit 3 is fixed on the shoulder - joint wire - conduit fixing device 2, and the shoulder - joint wire - conduit fixing device 2 is fixed on the upper platform 33 of the control console 1. The other end of the Y - shaped wire conduit 3 is fixed at the rope - outlet hole 1. The Y - shaped wire conduit 3 needs to reserve the space - requirement length for the movement of the robotic arm to prevent the length of the Y - shaped wire conduit 3 from affecting the movement of the robotic arm.

[0044] Specific implementation method four: As Figures 1 - 4 shown, this implementation method is a further elaboration on the first specific implementation method. The elbow joint 5 includes an elbow - joint base 19, two elbow - joint active ropes 20, an elbow - joint pin 21 and an elbow - joint upper movable body 22;

[0045] The lower end of the upper moving body 22 of the elbow joint is arranged inside the elbow joint base 19, and the lower end of the upper moving body 22 of the elbow joint is hinged to the elbow joint base 19 through an elbow joint pin shaft 21. On both sides of the upper moving body 22 of the elbow joint rotating around the elbow joint pin shaft 21, there is one elbow joint driving rope 20 respectively. One ends of the two elbow joint driving ropes 20 are fixedly connected to the upper moving body 22 of the elbow joint, and the other ends of the two elbow joint driving ropes 20 pass through two rope holes provided on the elbow joint base 19 and are connected to the elbow joint hoists 41 on their respective corresponding elbow joint motors 31, so as to achieve driving.

[0046] Considering that the actual design of the elbow joint 5 still adopts a rigid rotating joint, the upper and lower connecting parts of the elbow joint 5 (that is, the upper moving body 22 of the elbow joint and the elbow joint base 19) are connected by an elbow joint pin shaft 21. The lower end of the upper moving body 22 of the elbow joint is sleeved on the elbow joint pin shaft, and a bearing is added between the two, so that the elbow joint 5 has a rotational freedom in one direction. The realization of single-degree-of-freedom rotation requires the cooperation of the two elbow joint driving ropes 20 to contract or extend. One ends of the two elbow joint driving ropes 20 are respectively connected to both sides of the upper moving body 22 of the elbow joint rotating around the elbow joint pin shaft 21. The other ends of the two elbow joint driving ropes 20 pass through two rope holes on the elbow joint base 19 and are connected to the elbow joint hoists 41 on their respective corresponding elbow joint motors 31. The two elbow joint driving ropes 20 are driven by two elbow joint motors 31.

[0047] Specific implementation method five: As Figures 1 - 6As shown in the figure, this embodiment is a further description of the fourth specific embodiment. The other ends of the two active elbow ropes 20 pass through two rope holes and two elbow wire conduits 42 provided on the elbow base 19 and are then connected to the elbow winches 41 on the corresponding elbow motors 31. One ends of the two elbow wire conduits 42 are fixed at the corresponding rope holes, and the other ends of the two elbow wire conduits 42 are fixed on the corresponding elbow wire conduit fixing devices 43. The elbow wire conduit fixing devices 43 are detachably fixed on the upper platform 33 of the console 1 (the elbow wire conduit fixing device 43 includes an elbow wire conduit fixing base 9 and an elbow wire conduit joint 45. The elbow wire conduit joint 45 is fixed on the elbow wire conduit fixing base 9. The other end of the elbow wire conduit 42 is fixedly connected to the elbow wire conduit joint 45. An elbow wire conduit joint long groove is provided on the upper platform 33 of the console 1. Bolt long grooves are respectively provided on both sides of the elbow wire conduit joint long groove. The elbow wire conduit fixing base 9 is abutted against the lower end face of the upper platform 33 of the console 1. The elbow wire conduit joint passes through the elbow wire conduit joint long groove. The elbow wire conduit fixing base 9 is fixed on the upper platform 33 of the console 1 through two bolts 12, two washers 11 and two nuts 10. The two bolts 12 pass through the two bolt long grooves. An active elbow rope passing hole communicating with the elbow wire conduit joint 45 is provided on the elbow wire conduit fixing base 9).

[0048] Since the posture of the robotic arm changes during movement, in order to ensure that the rope length of the active elbow rope 20 does not change during movement, the method of passing the active elbow rope 20 through the elbow wire conduit 42 is adopted. One end of the elbow wire conduit 42 is fixed on the elbow wire conduit fixing device 43, the elbow wire conduit fixing device 43 is fixed on the upper platform 33 of the console 1, the other end of the elbow wire conduit 42 is fixed at the rope hole, and the elbow wire conduit 42 needs to reserve the space requirement length for the movement of the robotic arm to prevent the length of the elbow wire conduit 42 from affecting the movement of the robotic arm.

[0049] Specific embodiment six: As Figures 1 - 3 、 Figure 8 、 Figure 10 shown in the figure, this embodiment is a further description of the first specific embodiment. The wrist joint 6 includes a wrist joint base 23, a wrist joint upper movable body 27, four active wrist ropes 26, three wrist joint pre-tightening devices 48, and four passive wrist ropes 25;

[0050] The wrist joint base 23 is detachably fixed to the tops of four second support columns 30. A second central hole is provided in the middle of the wrist joint platform 46 of the wrist joint base 23. Three (arc-shaped) second convex platforms 47 are evenly arranged on the upper end surface of the wrist joint platform 46 at the edge of the second central hole. A second rope-passing hole is provided in the middle of each second convex platform 47. The upper movable body 27 of the wrist joint is arranged above the second central hole of the wrist joint platform 46. The center of the bottom of the upper movable body 27 of the wrist joint is connected to one end of four wrist joint passive ropes 25. The other end of one of the wrist joint passive ropes 25 is vertically connected to one of the wrist joint pre-tightening devices 48. The wrist joint pre-tightening device 48 is fixed on the wrist joint support 49 of the wrist joint base 23 (the wrist joint base 23 includes a wrist joint platform 46 and a wrist joint support 49, and the lower end surface of the wrist joint platform 46 is fixedly connected to the upper end of the wrist joint support 49); the other ends of the remaining three wrist joint passive ropes 25 pass through their respective corresponding second rope-passing holes and are fixedly connected to the remaining three wrist joint pre-tightening devices 48. The three wrist joint pre-tightening devices 48 are fixed on the upper end surface of the wrist joint platform 46; four rope-out holes 2 are evenly arranged on the wrist joint platform 46 near the outside. One end of four wrist joint active ropes 26 is connected in pairs to two end points at the top of the upper movable body 27 of the wrist joint (the upper movable body 27 of the wrist joint is in an inverted equilateral or isosceles triangle structure). The other ends of the four wrist joint active ropes 26 pass through the corresponding rope-out holes 2 and are connected to the wrist joint winches 7 on the corresponding wrist joint motors 32, so as to achieve driving (the four wrist joint active ropes 26 are driven by four wrist joint motors 32).

[0051] The wrist joint pre-tightening device 48 includes a wrist joint threaded sleeve and an M3 pre-tightening connecting piece 24; the M3 pre-tightening connecting piece 24 is provided with a central cavity. The other end of the wrist joint passive rope 25 penetrates into the central cavity of the M3 pre-tightening connecting piece 24 and is fixed by a wrist joint pin shaft connected to the radial hole of the M3 pre-tightening connecting piece 24. The M3 pre-tightening connecting piece 24 is in threaded connection with the wrist joint threaded sleeve to finely adjust the position of the wrist joint passive rope 25 by pre-tightening, so that the bottom vertex of the upper movable body 27 of the wrist joint is fixed at a specified position in space. The upper movable body 27 of the wrist joint has three rotational degrees of freedom around the bottom vertex in space, so as to achieve the three degrees of freedom of the wrist joint of a humanoid arm. Different from the three-degree-of-freedom driving method of the shoulder joint 4, considering the small movement range requirement of the wrist joint 6 and in order to reduce the driving complexity, the realization of the three-degree-of-freedom function of the wrist joint 6 requires the four wrist joint active ropes 26 to cooperate with contraction or elongation. One end of the four wrist joint active ropes 26 is connected in pairs to the two top end points of the upper movable body 27 of the wrist joint. The other ends of the four wrist joint active ropes 26 pass through the four rope-out holes 2 of the wrist joint base 23 and are connected to the wrist joint winches 7 on their respective corresponding wrist joint motors 32, so as to achieve driving.

[0052] Specific embodiment seven: As Figure 1 、 Figure 5 、Figure 6 , Figure 8 As shown in Figure 8 , this embodiment is a further illustration of the sixth specific embodiment. The other ends of the four active wrist ropes 26 pass through the four rope outlet holes II of the wrist joint base 23 and the four wrist joint wire conduits 44 and are then connected to the wrist joint winches 7 on their respective corresponding wrist joint motors 32. One ends of the four wrist joint wire conduits 44 are fixed at their respective corresponding rope outlet holes II, and the other ends of the four wrist joint wire conduits 44 are fixed on their respective corresponding wrist joint wire conduit fixing devices 50. The wrist joint wire conduit fixing devices 50 are detachably fixed on the upper platform 33 of the control console 1 (the wrist joint wire conduit fixing device 50 includes a wrist joint wire conduit fixing base 51 and a wrist joint wire conduit joint 52. The wrist joint wire conduit joint 52 is fixed on the wrist joint wire conduit fixing base 51. The other end of the wrist joint wire conduit 44 is fixedly connected to the wrist joint wire conduit joint 52. There is a wrist joint wire conduit joint long groove on the upper platform 33 of the control console 1, and bolt long grooves are respectively arranged on both sides of the wrist joint wire conduit joint long groove. The wrist joint wire conduit fixing base 51 is abutted and arranged on the lower end surface of the upper platform 33 of the control console 1. The wrist joint wire conduit joint passes through the wrist joint wire conduit joint long groove. The wrist joint wire conduit fixing base 51 is fixed on the upper platform 33 of the control console 1 through two bolts 12, two washers 11 and two nuts 10. The two bolts 12 pass through the two bolt long grooves. There is a wrist joint active rope passing hole on the wrist joint wire conduit fixing base 51 that communicates with the wrist joint wire conduit joint 52).

[0053] Since the posture of the robotic arm changes during movement, in order to ensure that the rope length of the wrist joint active rope 26 does not change during movement, the method of passing the wrist joint active rope 26 through the wrist joint wire conduit 44 is adopted. One end of the wrist joint wire conduit 44 is fixed on the wrist joint wire conduit fixing device 50, the wrist joint wire conduit fixing device 50 is fixed on the upper platform 33 of the control console 1, the other end of the wrist joint wire conduit 44 is fixed at the rope outlet hole II, and the wrist joint wire conduit 44 needs to reserve the space requirement length for the movement of the robotic arm to prevent the length of the wrist joint wire conduit 44 from affecting the movement of the robotic arm.

[0054] The wrist joint of the robotic arm is a three-degree-of-freedom structure formed by combining one degree of freedom of the human elbow-wrist joint and two degrees of freedom of the human wrist joint by analogy.

[0055] The robotic arm of the present invention adopts the form of active rope drive, and the winch is driven by the motor to contract and extend the active rope (drive rope).

[0056] The movement process of the seven-degree-of-freedom humanoid robotic arm of the present invention is achieved by the contraction or elongation of the active ropes driven by motors. Each joint can move freely, but the six active ropes (driving ropes) of the shoulder joint 4, the two active ropes (driving ropes) of the elbow joint 5, and the four active ropes of the wrist joint 6 need to satisfy their respective spatial vector relationships, and each joint can move simultaneously when the end position and attitude are given.

[0057] The seven-degree-of-freedom humanoid robotic arm of the present invention can be applied to the material grasping production line on the premise of adding an end effector, and can basically achieve all the functions that a traditional robotic arm can achieve. It can also be applied to education and popular science venues to demonstrate the function realization of the human arm.

[0058] When designing the main structure of the seven-degree-of-freedom robotic arm, wooden sticks can be selected for the first support column 29 and the second support column 30. The first support column 29 and the second support column 30 can also be made of carbon fiber tubes with lighter weight and higher strength. The middle parts of components such as the movable body 22 on the elbow joint, the shoulder joint platform 35, the wrist joint platform 46, and the connecting plate 28 are designed with hollow structures to achieve the purpose of light weight.

[0059] In addition, if the design of the wrist joint 6 needs to consider issues such as the movement range and grasping weight, the design method of the shoulder joint 4 can be selected, and 6 active ropes can be used for driving. On the contrary, on the basis of meeting the movement range and grasping weight, etc., the design of the shoulder joint 4 can also be replaced with the driving method of the wrist joint 6, which can reduce two shoulder joint motors 8 and achieve the purpose of reducing the driving complexity.

[0060] In terms of the drive design, a tension sensor can be added at the output of the active rope to monitor the force on the active rope (driving rope) in real time, so as to change the applied force on the active rope, so that the robotic arm can achieve the purpose of adjustable stiffness.

[0061] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent conditions of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed claims.

[0062] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A cable-driven tensegrity joint seven-degree-of-freedom humanoid robotic arm, characterized in that: It includes a robotic arm main body, a control console (1) and twelve motors; the robotic arm main body includes a shoulder joint (4), an elbow joint (5), a wrist joint (6), a support frame and four support columns two (30), and the twelve motors include six shoulder joint motors (8), two elbow joint motors (31) and four wrist joint motors (32); The twelve motors are detachably and fixedly installed at the inner bottom of the control console (1), the shoulder joint (4) is detachably and fixedly installed on the upper platform (33) of the control console (1), the top end of the shoulder joint (4) is fixedly connected to the bottom end of the support frame, the top end of the support frame is fixedly connected to the bottom end of the elbow joint (5), and the top end of the elbow joint (5) is fixedly connected to the bottom end of the wrist joint (6) through four support columns two (30); the six shoulder joint active ropes (17) of the shoulder joint (4) are driven by six shoulder joint motors (8) to realize three rotational degrees of freedom of the shoulder joint (4); the two elbow joint active ropes (20) of the elbow joint (5) are driven by two elbow joint motors (31) to realize one rotational degree of freedom of the elbow joint (5); the four wrist joint active ropes (26) of the wrist joint (6) are driven by four wrist joint motors (32) to realize two rotational degrees of freedom of the wrist joint (6); The shoulder joint (4) includes a shoulder joint base (14), a shoulder joint upper movable body (18), four shoulder joint passive ropes (16), six shoulder joint active ropes (17) and four shoulder joint pre-tightening devices (34); the shoulder joint base (14) is detachably and fixedly installed on the upper platform (33) of the control console (1), a central hole one is provided in the middle of the shoulder joint platform (35) of the shoulder joint base (14), three sections of convex platforms one 36 are evenly arranged on the upper end surface of the shoulder joint platform (35) at the edge of the central hole, and a rope-passing hole one is provided in the middle of each section of convex platform one 36. The shoulder joint upper movable body (18) is arranged above the central hole one of the shoulder joint platform (35). The center of the bottom of the shoulder joint upper movable body (18) is connected to one end of the four shoulder joint passive ropes (16). One end of one of the shoulder joint passive ropes (16) is vertically connected to one of the shoulder joint pre-tightening devices (34), and this shoulder joint pre-tightening device (34) is fixed on the shoulder joint support (37) of the shoulder joint base (14); the other ends of the remaining three shoulder joint passive ropes (16) pass through their respective corresponding rope-passing holes one and are fixedly connected to the remaining three shoulder joint pre-tightening devices (34), and these three shoulder joint pre-tightening devices (34) are fixed on the upper end surface of the shoulder joint platform (35); an out-rope hole one is provided on the outside of the shoulder joint platform (35) in the middle between every two adjacent rope-passing holes one, and the three out-rope holes one are located on the same circumference. One end of the six shoulder joint active ropes (17) is pairwise connected to the three end points at the top of the shoulder joint upper movable body (18). The other ends of the adjacent two shoulder joint active ropes (17) connected to every two adjacent end points pass through the same corresponding out-rope hole one, and the other end of each shoulder joint active rope (17) is connected to the shoulder joint winch (38) of the corresponding shoulder joint motor (8), so as to realize driving.

2. A cable-driven tensegrity joint seven-degree-of-freedom humanoid robotic arm according to claim 1, characterized in that: The other ends of two adjacent shoulder joint active ropes (17) connected to every two adjacent end points pass through the same corresponding rope outlet hole 1, and then pass through the Y-shaped wire conduit (3). One end of the Y-shaped wire conduit (3) is fixed at the corresponding rope outlet hole 1, and the two branch ends of the Y-shaped wire conduit (3) are respectively fixed on the corresponding shoulder joint wire conduit fixing device (2). The shoulder joint wire conduit fixing device (2) is detachably and fixedly connected to the upper platform (33) of the console (1).

3. A cable-driven tensegrity joint seven-degree-of-freedom humanoid robotic arm according to claim 1, characterized in that: The elbow joint (5) includes an elbow joint base (19), two elbow joint active ropes (20), an elbow joint pin shaft (21) and an upper moving body of the elbow joint (22); The lower end of the upper moving body of the elbow joint (22) is arranged in the elbow joint base (19), and the lower end of the upper moving body of the elbow joint (22) is hinged to the elbow joint base (19) through the elbow joint pin shaft (21). One elbow joint active rope (20) is arranged on each of the two sides where the upper moving body of the elbow joint (22) rotates around the elbow joint pin shaft (21). One ends of the two elbow joint active ropes (20) are fixedly connected to the upper moving body of the elbow joint (22), and the other ends of the two elbow joint active ropes (20) pass through two rope holes provided on the elbow joint base (19) and are connected to the elbow joint winches (41) on their respective corresponding elbow joint motors (31), so as to achieve driving.

4. A cable-driven tensegrity joint seven-degree-of-freedom humanoid robotic arm according to claim 3, characterized in that: The other ends of the two elbow joint active ropes (20) pass through two rope holes and two elbow joint wire conduits (42) provided on the elbow joint base (19) and are connected to the elbow joint winches (41) on their respective corresponding elbow joint motors (31). One ends of the two elbow joint wire conduits (42) are fixed at their respective corresponding rope holes, and the other ends of the two elbow joint wire conduits (42) are fixed on their respective corresponding elbow joint wire conduit fixing devices (43). The elbow joint wire conduit fixing device (43) is detachably fixed on the upper platform (33) of the console (1).

5. A cable-driven tensegrity joint seven-degree-of-freedom humanoid robotic arm according to claim 1, characterized in that: The wrist joint (6) includes a wrist joint base (23), an upper moving body of the wrist joint (27), four wrist joint active ropes (26), three wrist joint pre-tightening devices (48), and four wrist joint passive ropes (25); The wrist joint base (23) is detachably fixed to the tops of four support columns II (30). A central hole II is provided in the middle of the wrist joint platform (46) of the wrist joint base (23). Three convex platforms II (47) are evenly distributed on the upper end surface of the wrist joint platform (46) at the edge of the central hole II. A rope-passing hole II is provided in the middle of each convex platform II (47). The upper movable body (27) of the wrist joint is arranged above the central hole II of the wrist joint platform (46). The center of the bottom of the upper movable body (27) of the wrist joint is connected to one end of four wrist joint passive ropes (25). The other end of one of the wrist joint passive ropes (25) is vertically connected to one of the wrist joint pre-tightening devices (48), and the wrist joint pre-tightening device (48) is fixed on the wrist joint support (49) of the wrist joint base (23); the other ends of the remaining three wrist joint passive ropes (25) pass through their respective corresponding rope-passing holes II and are fixedly connected to the remaining three wrist joint pre-tightening devices (48), and the three wrist joint pre-tightening devices (48) are fixed on the upper end surface of the wrist joint platform (46); four rope-out holes II are evenly distributed near the outside of the wrist joint platform (46). One end of four wrist joint active ropes (26) is pairwise connected to two end points on the top of the upper movable body (27) of the wrist joint. The other ends of the four wrist joint active ropes (26) pass through the corresponding rope-out holes II and are connected to the wrist joint winches (7) on the corresponding wrist joint motors (32), so as to achieve driving.

6. According to the seven-degree-of-freedom humanoid robotic arm with cable-driven tensegrity joints described in claim 5, characterized in that: The other ends of the four wrist joint active ropes (26) pass through the four rope-out holes II of the wrist joint base (23) and four wrist joint wire conduits (44) and are then connected to the wrist joint winches (7) on their respective corresponding wrist joint motors (32). One end of the four wrist joint wire conduits (44) is fixed at the corresponding rope-out hole II, and the other ends of the four wrist joint wire conduits (44) are fixed on their respective corresponding wrist joint wire conduit fixing devices (50). The wrist joint wire conduit fixing devices (50) are detachably fixed on the upper platform (33) of the console (1).

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