Negative pressure driven joint and multi-degree-of-freedom negative pressure driven robotic arm

Abstract

The present invention provides a negative pressure driven joint and a multi-degree-of-freedom negative pressure driven robotic arm, comprising a forward drive mechanism, a reverse drive mechanism, a one-way valve, a forward control valve, a reverse control valve and a swing cylinder; the forward drive mechanism comprises a first linkage, a first piston and a second piston respectively connected to the first linkage at their upper ends, and a positive negative pressure cylinder and a positive fluid cylinder; the reverse drive mechanism comprises a second linkage, a third piston and a fourth piston respectively connected to the second linkage at their upper ends, and a reverse negative pressure cylinder and a reverse fluid cylinder; the forward fluid cavity is connected to one end of the second pipeline and one end of the third pipeline respectively through a first pipeline; the other end of the second pipeline and the other end of the third pipeline are respectively connected to the swing cylinder through the forward control valve and to the reverse fluid cavity through the one-way valve; the joint adjustment of the present invention has good stability, low noise, simple structure, low cost and high precision.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a negative pressure driven joint and a multi-degree-of-freedom negative pressure driven robotic arm. Background Art

[0002] With the advancement of science and technology, automated production equipment is becoming more and more popular. Among the many automated production equipment, robots are gradually being used in various fields. Among them, robotic arms are the most widely used automated mechanical devices in the field of robotics. Traditional robotic arms are designed based on specific tasks.

[0003] In existing industrial robots, multi-degree-of-freedom movements are mostly driven by servo motors at each joint. The design of various gears and other transmission structures makes the structure complex, making it difficult to achieve lightweight and miniaturized design. At the same time, there are also defects such as high noise, high cost, and low precision. Summary of the Invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a negative pressure driven joint and a multi-degree-of-freedom negative pressure driven robotic arm.

[0005] According to the present invention, a negative pressure driven joint is provided, comprising a forward driving mechanism, a reverse driving mechanism, a one-way valve, a forward control valve, a reverse control valve and a swing cylinder;

[0006] The forward drive mechanism comprises a first linkage, a first piston and a second piston, each of which has an upper end connected to the first linkage, and a positive negative pressure cylinder and a positive fluid cylinder arranged in parallel. The first piston and the second piston are arranged in the positive negative pressure cylinder and the positive fluid cylinder, respectively. A positive negative pressure cavity and a positive fluid cavity are formed between the lower side of the first piston and the lower side of the second piston and the positive negative pressure cylinder and the positive fluid cylinder, respectively.

[0007] The reverse drive mechanism comprises a second linkage, a third piston and a fourth piston whose upper ends are respectively connected to the second linkage, and a reverse negative pressure cylinder and a reverse fluid cylinder arranged in parallel. The third piston and the fourth piston are respectively arranged in the reverse negative pressure cylinder and the reverse fluid cylinder. A reverse negative pressure chamber and a reverse fluid chamber are formed between the lower side of the third piston and the upper side of the fourth piston and the reverse negative pressure cylinder and the reverse fluid cylinder respectively.

[0008] The forward fluid chamber is connected to one end of the second pipe and one end of the third pipe respectively through a first pipe, the other ends of the second pipe and the other ends of the third pipe are connected to the swing cylinder through a forward control valve and connected to the reverse fluid chamber through a one-way valve, wherein the reverse fluid chamber is connected to the swing cylinder through a fifth pipe, and a reverse control valve is arranged between the fifth pipe and the swing cylinder;

[0009] When the reverse control valve is closed and the forward control valve is opened, under the action of the positive negative pressure chamber, the first linkage body can drive the second piston to squeeze the forward fluid chamber, so that the fluid in the forward fluid chamber enters the swing cylinder through the forward control valve, thereby causing the swing cylinder to rotate or move in the forward direction;

[0010] When the reverse control valve is opened and the forward control valve is closed, under the action of the reverse negative pressure chamber, the fourth piston can be driven by the second linkage body to move back to the reverse fluid chamber, so that the fluid in the swing cylinder is drawn into the reverse fluid chamber, causing the swing cylinder to rotate in the opposite direction or move horizontally.

[0011] Preferably, the first linkage includes a forward functional body and a first piston rod and a second piston rod respectively connected to the first piston and the second piston, and the second linkage includes a reverse functional body and a third piston rod and a fourth piston rod respectively connected to the third piston and the fourth piston.

[0012] Preferably, the forward driving mechanism has a forward linear guide rail, and a sliding pair is formed between the forward functional body and the forward linear guide rail.

[0013] Preferably, the reverse drive mechanism has a reverse screw assembly. When the reverse control valve and the forward control valve are both closed, the reverse screw assembly can drive the second linkage to drive the third piston and the fourth piston to move synchronously, thereby pushing the fluid in the reverse fluid chamber into the forward fluid chamber, thereby realizing the initial energy storage of the negative pressure driven joint.

[0014] Preferably, the positive negative pressure cylinder, positive fluid cylinder, reverse negative pressure cylinder and reverse fluid cylinder are all placed vertically, the positive functional body is a counterweight block arranged above the positive negative pressure cylinder and the positive fluid cylinder, and the reverse functional body is a counterweight block arranged above the reverse negative pressure cylinder and the reverse fluid cylinder.

[0015] Preferably, the reverse screw assembly is a structure in which a screw and a nut block cooperate with each other, and when the screw is driven to rotate, the nut block can be driven to move along the axial direction of the screw, wherein when the nut block moves upward, it can push the reverse functional body to move upward synchronously, and when the reverse functional body moves to the target position, the nut block returns to its initial position under the drive of the screw.

[0016] Preferably, the positive negative pressure chamber and the reverse negative pressure chamber are both vacuum-sealed chambers;

[0017] The forward fluid cavity and the reverse fluid cavity are both closed cavities filled with fluid.

[0018] Preferably, the forward control valve and the reverse control valve are valves with adjustable opening.

[0019] According to the present invention, a multi-degree-of-freedom negative pressure driven robotic arm includes the negative pressure driven joint, and is further configured with a first valve island and a second valve island, a plurality of the forward drive mechanisms are arranged in parallel, and a plurality of the reverse drive mechanisms are arranged in parallel;

[0020] The second pipeline connected to each forward driving mechanism is connected to the corresponding forward control valve and swing cylinder through the first valve island; the reverse control valve connected to each swing cylinder is connected to the corresponding reverse driving mechanism through the second valve island.

[0021] Preferably, a controller is further included, and the controller is electrically connected to the first valve island, the second valve island, the forward control valve, and the reverse control valve respectively.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The joints in the present invention are driven by a negative pressure fluid structure, which has a simple structure and light weight. It is composed of multiple parallel drive mechanisms and a valve island as the component structure of the robotic arm, which can realize continuous energy storage. By adjusting the energy storage and release without interfering with each other, it has good stability, low noise, simple structure, low cost and high precision.

[0024] 2. A linear guide rail or a screw structure is added to the driving mechanism of the present invention to prevent the fluid cylinder piston from twisting through the guide mechanism, and by changing the mass of the counterweight block, the energy stored in a single charge can be increased, thereby improving the energy storage density. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0026] Figure 1 It is a structural schematic diagram of the present invention;

[0027] Figure 2 Schematic diagram of the internal structure of the forward drive mechanism;

[0028] Figure 3 Schematic diagram of the internal structure of the reverse drive mechanism;

[0029] Figure 4 This is a schematic diagram of the structure of a multi-degree-of-freedom negative pressure driven robotic arm;

[0030] Figure 5 This is a structural diagram of the swing cylinder using translation.

[0031] The figure shows:

[0032] Forward drive mechanism 1

[0033] Positive negative pressure cylinder 11

[0034] Positive negative pressure chamber 12

[0035] Forward fluid cylinder 13

[0036] Forward fluid chamber 14

[0037] First linkage body 15

[0038] Positive linear guide 16

[0039] First piston 17

[0040] First piston rod 171

[0041] Second piston 18

[0042] Second piston rod 181

[0043] Reverse drive mechanism 2

[0044] Reverse negative pressure cylinder 21

[0045] Reverse negative pressure chamber 22

[0046] Reverse fluid cylinder 23

[0047] Reverse fluid chamber 24

[0048] Second linkage 25

[0049] Reverse screw assembly 26

[0050] Screw 261

[0051] Nut block 262

[0052] The third piston 27

[0053] The third piston rod 271

[0054] Fourth piston 28

[0055] Fourth piston rod 281

[0056] First valve island 3

[0057] Second valve island 4

[0058] One-way valve 5

[0059] Forward control valve 6

[0060] Reverse control valve 7

[0061] Swing cylinder 8

[0062] First pipeline 101

[0063] Second pipeline 102

[0064] The third pipeline 103

[0065] Fourth pipeline 104

[0066] Fifth pipeline 105 DETAILED DESCRIPTION

[0067] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0068] The present invention provides a negative pressure driven joint, such as Figure 1 、 Figure 2 、 Figure 3 As shown, it includes a forward drive mechanism 1, a reverse drive mechanism 2, a one-way valve 5, a forward control valve 6, a reverse control valve 7 and a swing cylinder 8; the forward drive mechanism 1 has a first linkage 15, a first piston 17 and a second piston 18 connected to the first linkage 15 at their upper ends, and a positive negative pressure cylinder 11 and a positive fluid cylinder 13 arranged in parallel. The first piston 17 and the second piston 18 are arranged inside the positive negative pressure cylinder 11 and the positive fluid cylinder 13 respectively. The lower side of the first piston 17 and the lower side of the second piston 18 form a positive negative pressure chamber 12 and a positive fluid chamber 14 with the positive negative pressure cylinder 11 and the positive fluid cylinder 13 respectively, wherein the positive negative pressure chamber 12 is a closed negative pressure chamber. The forward fluid chamber 14 is a closed fluid space filled with fluid; the reverse drive mechanism 2 has a second linkage body 25, a third piston 27 and a fourth piston 28 whose upper ends are respectively connected to the second linkage body 25, and a reverse negative pressure cylinder 21 and a reverse fluid cylinder 23 arranged in parallel. The third piston 27 and the fourth piston 28 are respectively arranged inside the reverse negative pressure cylinder 21 and the reverse fluid cylinder 23. The lower side surface of the third piston 27 and the upper side surface of the fourth piston 28 respectively form a reverse negative pressure chamber 22 and a reverse fluid chamber 24 with the reverse negative pressure cylinder 21 and the reverse fluid cylinder 23. The reverse negative pressure chamber 22 is a closed negative pressure space, and the reverse fluid chamber 24 is a closed fluid space filled with fluid.

[0069] Furthermore, the forward fluid chamber 14 is connected to one end of the second pipeline 102 and one end of the third pipeline 103 through the first pipeline 101 respectively, the other end of the second pipeline 102 is connected to the swing cylinder 8 through the forward control valve 6, and the other end of the third pipeline 103 is connected to the reverse fluid chamber 24 through the one-way valve 5, wherein the reverse fluid chamber 24 is also connected to the swing cylinder 8 through the fifth pipeline 105, and a reverse control valve 7 is arranged between the swing cylinder 8 and the fifth pipeline 105.

[0070] like Figure 2 、 Figure 3As shown, the first linkage body 15 includes a forward functional body and a first piston rod 171 and a second piston rod 181 respectively connected to the first piston 17 and the second piston 18. When the forward functional body moves, the first piston 17 and the second piston 18 can be driven to move synchronously through the first piston rod 171 and the second piston rod 181. The second linkage body 25 includes a reverse functional body and a third piston rod 271 and a fourth piston rod 281 respectively connected to the third piston 27 and the fourth piston 28. When the reverse functional body moves, the third piston 27 and the fourth piston 28 can be driven to move synchronously through the third piston rod 271 and the fourth piston rod 281.

[0071] like Figure 2 As shown, the forward drive mechanism 1 has a forward linear guide 16, and a sliding pair is formed between the forward functional body and the forward linear guide 16. The sliding pair plays a guiding role. The sliding pair can adopt a variety of structures, such as a structure of a slide groove and a slide rail. When an external force drives the forward functional body to move, it can slide along the forward linear guide 16, which can effectively prevent torsion during the movement of each piston and affect the service life.

[0072] like Figure 3 As shown, the reverse drive mechanism 2 has a reverse screw assembly 26, which is a structure in which a screw 261 and a nut block 262 cooperate. When the screw 261 is driven to rotate, the nut block 262 can be driven to move axially along the screw 261. For example, when the screw 261 is driven to rotate by a motor, the nut block 262 can be driven to move axially along the screw 261 due to the threaded matching structure. When the motor drives the screw 261 to rotate forward, it can drive the nut block 262 to move upward and then push the reverse functional body to move upward synchronously. When the reverse functional body moves to the target position, the motor drives the screw 261 to reverse so that the nut block 262 leaves the reverse functional body and returns to the initial position. After waiting for the negative pressure to be released, the reverse functional body contacts the nut block 262 again. The target position is preferably the position when the reverse negative pressure chamber 22 is the largest, and the initial position is the position when the reverse negative pressure chamber 22 is the smallest and the reverse functional body can just contact the nut block 262. Therefore, when the nut block 262 moves, it can drive the reverse functional body from the initial position to the target position, and to a certain extent, it can also effectively prevent torsion during the movement of each piston, affecting the service life.

[0073] In actual application, when the reverse control valve 7 and the forward control valve 6 are both closed, the nut block 262 on the reverse screw assembly 26 can drive the second linkage body 25 to drive the third piston 27 and the fourth piston 28 to move synchronously, and then push the fluid in the reverse fluid chamber 24 into the forward fluid chamber 14, so that the forward functional body slides on the forward linear guide 16, realizing the initial energy storage of the forward drive mechanism 1 and the reverse drive mechanism 2 on the negative pressure driven joint.

[0074] When the reverse control valve 7 is closed and the forward control valve 6 is opened, under the action of the positive negative pressure chamber 12, the first linkage body 15 can drive the second piston 18 to squeeze the forward fluid chamber 14, so that the fluid in the forward fluid chamber 14 enters the swing cylinder 8 through the forward control valve 6, thereby causing the swing cylinder 8 to rotate forward or move horizontally; when the reverse control valve 7 is opened and the forward control valve 6 is closed, under the action of the reverse negative pressure chamber 22, the second linkage body 25 can drive the fourth piston 28 to move back to the reverse fluid chamber 24, thereby causing the fluid in the swing cylinder 8 to be drawn into the reverse fluid chamber 24, causing the swing cylinder 8 to rotate in the opposite direction or move horizontally.

[0075] In actual application, the forward negative pressure cylinder 11, the forward fluid cylinder 13, the reverse negative pressure cylinder 21, and the reverse fluid cylinder 23 are preferably placed vertically. The forward functional body is a counterweight block arranged above the forward negative pressure cylinder 11 and the forward fluid cylinder 13, and the reverse functional body is a counterweight block arranged above the reverse negative pressure cylinder 21 and the reverse fluid cylinder 23. By setting both the forward functional body and the reverse functional body as counterweight blocks, the gravitational potential energy of the counterweight blocks can be increased, and the energy storage density of the forward drive mechanism 1 and the reverse drive mechanism 2 can be increased.

[0076] The present invention also provides a multi-freedom negative pressure driven robot arm, comprising a plurality of negative pressure driven joints, and further configured with a first valve island 3 and a second valve island 4, such as Figure 1 As shown, multiple forward drive mechanisms 1 are arranged in parallel, and multiple reverse drive mechanisms 2 are arranged in parallel. The forward control valve 6 and the reverse control valve 7 are preferably valves with adjustable opening, such as electromagnetic pinch valves, ball valves, stop valves, pneumatic control valves, etc., which can effectively improve the fluid control accuracy.

[0077] The second pipeline 102 connected to each forward drive mechanism 1 is connected to the first valve island 3, the fourth pipeline 104, and the swing cylinder 8 in sequence, wherein the forward control valve 6 is arranged on the fourth pipeline 104; each swing cylinder 8 is connected to the sixth pipeline 106, the second valve island 4, and the fifth pipeline 105 in sequence, and the reverse control valve 7 is arranged on the sixth pipeline 106. Figure 4 The robot arm includes 6 negative pressure driven joints, and the target action can be adjusted by controlling the rotation of each joint.

[0078] It should be noted that the swing cylinder 8 of the present invention adopts Figure 1 In addition to the structural form of rotation, it can also adopt the form of translation, such as Figure 5 As shown, the movement adjustment of joint extension or shortening as well as the movement adjustment combining translation and rotation can be realized.

[0079] The multi-DOF negative pressure-driven robotic arm is also equipped with a controller, which is electrically connected to the first valve island 3, the second valve island 4, the forward control valve 6, and the reverse control valve 7. The controller can control the opening and closing of these valve islands 3, 4, 6, and 7 according to the required motion. Specifically, the multiple swing cylinders 8 in the robotic arm can simultaneously perform multiple rotations, or even rotate partially, to achieve real-time and rapid adjustment of the robotic arm's target motion, which is uniformly deployed by the controller.

[0080] It should be noted that the swing cylinder 8 in the present invention can adopt existing technology, such as the joint structure disclosed in patent document CN115674177A, which will not be described in detail here.

[0081] The present invention adopts the form of storing negative pressure energy. After the energy is stored, no electricity is required within a certain period of time. In particular, in some special environments, various actions can still be performed by relying on the negative pressure energy stored in the device. For example, when performing surgery in a hospital, the robotic arm used for surgery can still be urgently operated during a power outage.

[0082] Take the rotating joint as an example, Figure 1 、 Figure 2 、 Figure 3 As shown, the working principle of the present invention is as follows:

[0083] Initial energy storage process: the first valve island 3 and the second valve island 4 are both closed, the nut block 262 in the reverse screw assembly 26 moves upward, driving the second linkage body 25 to move upward, so that the volume of the reverse negative pressure chamber 22 increases and energy is stored. The fluid flows from the reverse fluid chamber 24 through the one-way valve 5 into the forward fluid chamber 14, driving the first linkage body 15 to move upward, so that the volume of the positive negative pressure chamber 12 increases and energy is stored.

[0084] Forward driving process: close all forward control valves 6 and reverse control valves 7, select a group of forward driving mechanisms 1 and reverse driving mechanisms 2, open the solenoid valves corresponding to the first valve island 3 and the second valve island 4, open one or several forward control valves 6, the volume of the positive negative pressure chamber 12 decreases, releasing energy, driving the first linkage 15 to move downward, and the fluid flows from the positive fluid chamber 14 through the first pipeline 101, the second pipeline 102, the first valve island 3, and the fourth pipeline 104 into the corresponding swing cylinder 8, causing the corresponding joint to rotate forward.

[0085] Reverse driving process: close all forward control valves 6 and reverse control valves 7, select a group of forward driving mechanisms 1 and reverse driving mechanisms 2, open the solenoid valves corresponding to the first valve island 3 and the second valve island 4, open one or several reverse control valves 7, the volume of the reverse negative pressure chamber 22 decreases, releasing energy, driving the second linkage body 25 to move downward, and the fluid flows from the corresponding swing cylinder 8 through the sixth pipeline 106, the second valve island 4, and the fifth pipeline 105 into the reverse fluid chamber 24, causing the corresponding joint to rotate in the opposite direction.

[0086] Parallel energy storage process: When the energy of one group of forward drive mechanism 1 and reverse drive 2 is exhausted, the solenoid valves corresponding to the first valve island 3 and the second valve island 4 are closed, and the nut block 262 in the corresponding reverse screw assembly 26 is driven upward to re-store energy. At the same time, the other groups of forward drive mechanism 1 and reverse drive 2 can still work normally.

[0087] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0088] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A negative pressure driven joint, characterized in that: It includes a forward drive mechanism (1), a reverse drive mechanism (2), a one-way valve (5), a forward control valve (6), a reverse control valve (7), and a swing cylinder (8); The forward drive mechanism (1) comprises a first linkage (15), a first piston (17) and a second piston (18) whose upper ends are respectively connected to the first linkage (15), and a positive negative pressure cylinder (11) and a positive fluid cylinder (13) arranged in parallel, wherein the first piston (17) and the second piston (18) are respectively arranged in the positive negative pressure cylinder (11) and the positive fluid cylinder (13), and a positive negative pressure chamber (12) and a positive fluid chamber (14) are formed between the lower side surface of the first piston (17) and the lower side surface of the second piston (18) and the positive negative pressure cylinder (11) and the positive fluid cylinder (13); The reverse driving mechanism (2) comprises a second linkage body (25), a third piston (27) and a fourth piston (28) whose upper ends are respectively connected to the second linkage body (25), and a reverse negative pressure cylinder (21) and a reverse fluid cylinder (23) arranged in parallel. The third piston (27) and the fourth piston (28) are respectively arranged in the reverse negative pressure cylinder (21) and the reverse fluid cylinder (23). A reverse negative pressure chamber (22) and a reverse fluid chamber (24) are formed between the lower side surface of the third piston (27) and the upper side surface of the fourth piston (28) and the reverse negative pressure cylinder (21) and the reverse fluid cylinder (23). The forward fluid chamber (14) is connected to one end of the second pipe (102) and one end of the third pipe (103) respectively through the first pipe (101); the other end of the second pipe (102) and the other end of the third pipe (103) are connected to the swing cylinder (8) through the forward control valve (6) and the reverse fluid chamber (24) through the one-way valve (5); wherein the reverse fluid chamber (24) is connected to the swing cylinder (8) through the fifth pipe (105); and a reverse control valve (7) is arranged between the fifth pipe (105) and the swing cylinder (8); When the reverse control valve (7) is closed and the forward control valve (6) is opened, under the action of the positive negative pressure chamber (12), the first linkage body (15) can drive the second piston (18) to squeeze the forward fluid chamber (14), so that the fluid in the forward fluid chamber (14) enters the swing cylinder (8) through the forward control valve (6), thereby causing the swing cylinder (8) to rotate or move in a forward direction. When the reverse control valve (7) is opened and the forward control valve (6) is closed, under the action of the reverse negative pressure chamber (22), the fourth piston (28) can be driven by the second linkage (25) to move backward toward the reverse fluid chamber (24), thereby causing the fluid in the swing cylinder (8) to be drawn into the reverse fluid chamber (24), causing the swing cylinder (8) to rotate in the reverse direction or move in a translational manner.

2. The negative pressure driven joint according to claim 1, characterized in that: The first linkage (15) comprises a forward functional body and a first piston rod (171) and a second piston rod (181) respectively connected to the first piston (17) and the second piston (18); the second linkage (25) comprises a reverse functional body and a third piston rod (271) and a fourth piston rod (281) respectively connected to the third piston (27) and the fourth piston (28).

3. The negative pressure driven joint according to claim 2, characterized in that: The forward drive mechanism (1) has a forward linear guide rail (16), and a sliding pair is formed between the forward functional body and the forward linear guide rail (16).

4. The negative pressure driven joint according to claim 3, characterized in that: The reverse drive mechanism (2) has a reverse screw assembly (26). When the reverse control valve (7) and the forward control valve (6) are both closed, the reverse screw assembly (26) can drive the second linkage (25) to drive the third piston (27) and the fourth piston (28) to move synchronously, thereby pushing the fluid in the reverse fluid chamber (24) into the forward fluid chamber (14), thereby realizing the initial energy storage of the negative pressure driven joint.

5. The negative pressure driven joint according to claim 3, characterized in that: The positive negative pressure cylinder (11), the positive fluid cylinder (13), the negative negative pressure cylinder (21), and the negative fluid cylinder (23) are all placed vertically; the positive functional body is a counterweight block arranged above the positive negative pressure cylinder (11) and the positive fluid cylinder (13); and the negative functional body is a counterweight block arranged above the negative negative pressure cylinder (21) and the negative fluid cylinder (23).

6. The negative pressure driven joint according to claim 4, characterized in that: The reverse screw assembly (26) is a structure in which a screw (261) and a nut block (262) cooperate with each other. When the screw (261) is driven to rotate, the nut block (262) can be driven to move along the axial direction of the screw (261). When the nut block (262) moves upward, it can push the reverse functional body to move upward synchronously. When the reverse functional body moves to the target position, the nut block (262) returns to the initial position under the drive of the screw (261).

7. The negative pressure driven joint according to claim 1, characterized in that: The positive negative pressure chamber (12) and the reverse negative pressure chamber (22) are both vacuum-sealed chambers; The forward fluid cavity (14) and the reverse fluid cavity (24) are both closed cavities filled with fluid.

8. The negative pressure driven joint according to claim 1, characterized in that: The forward control valve (6) and the reverse control valve (7) are both valves with adjustable openings.

9. A multi-degree-of-freedom negative pressure driven robotic arm, characterized in that: Comprising a plurality of negative pressure driven joints according to any one of claims 1 to 8, further provided with a first valve island (3) and a second valve island (4), a plurality of the forward drive mechanisms (1) being arranged in parallel, and a plurality of the reverse drive mechanisms (2) being arranged in parallel; The second pipeline (102) connected to each forward drive mechanism (1) is connected to the corresponding forward control valve (6) and swing cylinder (8) through the first valve island (3); the reverse control valve (7) connected to each swing cylinder (8) is connected to the corresponding reverse drive mechanism (2) through the second valve island (4).

10. The multi-degree-of-freedom negative pressure driven robotic arm according to claim 9, characterized in that: It also includes a controller, which is electrically connected to the first valve island (3), the second valve island (4), the forward control valve (6), and the reverse control valve (7).

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