A rope-driven segmented linkage flexible manipulator with joint perception and dual closed-loop function

Abstract

The present application relates to a kind of rope-driven segmented linkage flexible mechanical arm with joint perception and double closed-loop function, including the operating arm being arranged on drive box, operating arm includes multiple arm segments connected by at least three drive ropes and drive box, and drive rope can make each arm segment bend respectively;Each arm segment includes three and more joint arms connected by universal joint, first linkage rope defines the equal angle rotation of interval joint arm at the two ends of middle joint arm along the first swing axis or second swing axis of arm segment in opposite rotation direction;Second linkage rope defines the equal angle rotation of interval joint arm at the two ends of middle joint arm along the first swing axis or second swing axis of arm segment in opposite rotation direction;The axial direction of first swing axis and second swing axis is perpendicular to each other.The effect that all adjacent joint arms in arm segment reach equal angle linkage is achieved, and the angle sensing device arranged in joint can carry out the position perception of joint, and the corresponding high-precision closed-loop control of each arm segment of operating arm is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rope-driven robots, and particularly relates to a rope-driven segmented linkage flexible robot arm with joint sensing and double closed-loop functions. BACKGROUND

[0002] In recent years, linkage flexible robot arms are widely used in aerospace, explosive ordnance disposal, and wire cutting tasks. Compared with traditional fully-driven flexible robot arms, linkage flexible robot arms have more degrees of freedom, longer arm segments, more continuous arm shapes, and better flexibility. In theory, the pitch and yaw angles of each linkage joint segment of a linkage flexible robot arm can realize equal-angle linkage. However, in practice, the existing linkage flexible robot arms cannot realize true equal-angle linkage due to factors such as uneven linkage rope pretightening force, rope friction, and deformation. Therefore, the linkage flexible robot arms have some deficiencies in motion accuracy, which is not conducive to the application of the linkage flexible robot arms in environments with high precision operation requirements. SUMMARY

[0003] The present application provides a rope-driven segmented linkage flexible robot arm with joint sensing and double closed-loop functions, which aims to at least solve one of the technical problems existing in the prior art.

[0004] The technical solution of the present application is a rope-driven segmented linkage flexible robot arm with joint sensing and double closed-loop functions, which comprises a drive box, an operating arm arranged on the drive box, the operating arm comprising a plurality of sequentially connected arm segments, each arm segment being connected by at least three driving ropes and the drive box, and under the action of the drive box, the driving ropes can pull each arm segment to bend each arm segment; each arm segment comprises three or more joint arms, a universal joint connecting two adjacent joint arms, a first linkage rope connecting two spaced joint arms, the first linkage rope limiting the equal-angle rotation of the two spaced joint arms at the two ends of the intermediate joint arm along the first swing axis and / or the second swing axis of the arm segment in opposite directions, and a second linkage rope connecting two spaced joint arms, the second linkage rope limiting the equal-angle rotation of the two spaced joint arms at the two ends of the intermediate joint arm along the first swing axis and / or the second swing axis of the arm segment in opposite directions; wherein the first swing axis and the second swing axis are perpendicular to each other in the axial direction.

[0005] Further, the joint arms are respectively provided with first and second rotating connecting members at the first end away from the driving box and the second end close to the driving box; the first rotating connecting member of the joint arm is rotatingly connected to the gimbal at the A-axis of the gimbal, and the second rotating connecting member of the joint arm is rotatingly connected to the gimbal at the B-axis of the gimbal, wherein the A-axis and the B-axis are perpendicular to each other, the A-axis and the first swing axis are perpendicular and / or parallel to each other in the axial direction, and the B-axis and the second swing axis are perpendicular and / or parallel to each other in the axial direction; on the three adjacent joint arms, the first linkage rope is wound between the gimbal connected to the first end of the middle joint arm and the gimbal connected to the second end of the middle joint arm, on the gimbal connected to the first end of the middle joint arm, the first linkage rope is wound along the first clock direction of the A-axis of the gimbal and is fixed to the gimbal, and on the gimbal connected to the second end of the middle joint arm, the first linkage rope is wound along the second clock direction of the B-axis of the gimbal and is fixed to the gimbal, wherein the A-axis of the gimbal connected to the first end of the middle joint arm and the B-axis of the gimbal connected to the second end of the middle joint arm are parallel to each other, and the first clock direction and the second clock direction are opposite in rotation direction; on the three adjacent joint arms, the second linkage rope is wound between the gimbal connected to the first end of the middle joint arm and the gimbal connected to the second end of the middle joint arm, on the gimbal connected to the first end of the middle joint arm, the second linkage rope is wound along the third clock direction of the B-axis of the gimbal and is fixed to the adjacent joint arm at the first end of the middle joint arm, and on the gimbal connected to the second end of the middle joint arm, the second linkage rope is wound along the fourth clock direction of the A-axis of the gimbal and is fixed to the adjacent joint arm at the second end of the middle joint arm, wherein the third clock direction and the fourth clock direction are opposite in rotation direction.

[0006] Further, the gimbal is provided with four mounting surfaces perpendicular to each other at the two ends of the A-axis and the B-axis, and the mounting surfaces are provided with bosses, two first rotating connecting members are rotatingly connected to the bosses at the opposite two ends of the A-axis, and two second rotating connecting members are rotatingly connected to the other two bosses at the opposite two ends of the B-axis; the bosses are provided with first rope winding grooves on the outer periphery, and the first linkage rope is wound in the first rope winding grooves; the gimbal is provided with arc-shaped frames at the first end away from the driving box and the second end close to the driving box, the second rope winding grooves are provided on the arc-shaped frame at the first end away from the driving box along the A-axis of the gimbal, and the second rope winding grooves are provided on the arc-shaped frame at the second end close to the driving box along the B-axis of the gimbal, and the second linkage rope is wound in the second rope winding grooves.

[0007] Further, the articulated arm comprises an arm rod with a cavity and disc parts connected to the first end and the second end of the arm rod respectively, the two first rotary connectors are arranged on the disc part at the first end of the arm rod, and the two second rotary connectors are arranged on the disc part at the second end of the arm rod; the arm rod is provided with a through hole for the second linkage rope to pass through and be fixed; the disc part is provided with a first through hole along the circumference for the driving rope to pass through or be connected; the disc part is provided with a second through hole outside the two first rotary connectors and the two second rotary connectors respectively, the second through hole corresponds to the second rope winding groove, and two second through holes on the two disc parts are arranged to intersect with the two second rope winding grooves, the second linkage rope wound in the two adjacent second rope winding grooves of the universal joint passes through the second through hole and the rope guide hose; the disc part is provided with a third through hole inside the two first rotary connectors and the two second rotary connectors, the third through hole corresponds to the first rope winding groove, and the first linkage rope wound in the two adjacent first rope winding grooves of the universal joint passes through the third through hole.

[0008] Further, the outer side of the first rotary connector and the second rotary connector is respectively provided with an avoiding groove, the avoiding groove corresponds to the second through hole, and the first rotary connector and the second rotary connector are respectively provided with a fan-shaped notch outside the end part connected with the universal joint, the fan-shaped notch communicates with the avoiding groove, and the second linkage rope between the second rope winding groove and the second through hole passes through the avoiding groove and the fan-shaped notch.

[0009] Further, the boss outside the universal joint is respectively provided with two second shaft holes and two second rotation holes, the two second shaft holes are located in the adjacent two bosses, the two second rotation holes are located in the adjacent two bosses, the second shaft hole and the second rotation hole are located in the opposite two bosses, the two second shaft holes are fixedly connected with a hollow first rotating shaft, and the two second rotation holes are rotatably connected with a second rotating shaft through a second bearing; one end part of the two first rotary connectors or the second rotary connectors is provided with a first rotation hole, the first rotation hole is rotatably connected with the first rotating shaft through a first bearing, the other end part of the two first rotary connectors or the second rotary connectors is provided with a first shaft hole, and the first shaft hole is fixedly connected with the second rotating shaft; the universal joint is hollow, and two angle sensing devices are arranged on the universal joint, the angle sensing device comprises an encoder, the encoder is arranged inside the universal joint and has an input shaft extending into the hollow first rotating shaft, and a connecting block, one end of the connecting block is fixedly connected with the input shaft, and the other end of the connecting block is fixedly connected with the first rotary connector or the second rotary connector.

[0010] Further, the second rotation hole is provided with a shoulder, the axial position of the second rotating shaft is constrained through the cooperation of the second bearing and the shoulder; the first rotating shaft is provided with a connecting plate, the second shaft hole is provided with a mounting groove, and the axial position of the first rotating shaft is constrained through the cooperation of the connecting plate and the mounting groove.

[0011] Further, the drive box comprises: a drive box support connected with the operating arm through the operating arm mounting frame; a plurality of drive assemblies for winding and unwinding each drive rope to bend each arm segment, the plurality of drive assemblies are arranged on the drive box support in a circumferential direction, the drive assembly comprises: a motor fixed on the side of the drive box support; a guide rail arranged on the side of the drive box support along the extension direction of the operating arm; a lead screw, one end of the lead screw is connected with the output shaft of the motor, and the other end is rotatably connected with the drive box support, and the guide rail is parallel to the lead screw; a sliding block, the sliding block is slidably arranged on the guide rail, and the sliding block is threadedly connected with the lead screw, a pulley is rotatably connected with the sliding block or a conversion block is fixedly connected with the sliding block; wherein one end of the drive rope is fixedly connected with the conversion block or is fixedly connected with the drive box support after passing through the pulley.

[0012] Further, the drive box support comprises: an upper support disc connected with the operating arm mounting frame; a fixed disc connected with the upper support disc on the side away from the operating arm through a support column; a lower support disc connected with the fixed disc on the side away from the operating arm through a support cylinder; wherein the motor is arranged between the fixed disc and the lower support disc through the drive support connected with the fixed disc; the other end of the lead screw passes through the fixed disc and is rotatably connected with the upper support disc; one end of the guide rail is connected with the upper support disc, and the other end passes through the fixed disc and is connected with the drive support; the sliding block moves along the guide rail and the lead screw between the upper support disc and the fixed disc.

[0013] Further, the sliding block is provided with a movable groove, and the pulley is rotatably arranged in the movable groove or the conversion block is fixedly arranged in the movable groove; each drive assembly further comprises a tension sensor arranged between one end of the drive rope and the drive box support or arranged between one end of the drive rope and the conversion block.

[0014] The beneficial effects of the present application are:

[0015] The present application provides an improved rope-driven segmented linkage flexible mechanical arm with joint sensing and double closed loop function, first linkage ropes and second linkage ropes are arranged between every three joint arms of the operating arm segment in a staggered manner, to drive and limit every two joint arms at intervals to rotate at equal angles along the first swing axis or the second swing axis of the arm segment, to realize the effect that all adjacent joint arms in the arm segment achieve equal angle linkage, to realize high precision and large angle movement of the arm segment in two degrees of freedom, and cooperate with the angle sensing device in the universal joint for measuring the rotation angles of the two axes, to realize real-time sensing and calculation of the rotation angles of the adjacent two joint arms connected by the universal joint, to facilitate the control personnel to improve the control precision of the mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1is a schematic diagram of the overall structure according to an embodiment of the present application.

[0017] Figure 2 is a schematic diagram of the structure of one of the arm segments of the operating arm according to an embodiment of the present application.

[0018] Figure 3a is Figure 2 is a partial structural cross-sectional view of one of the angles of the middle arm segment.

[0019] Figure 3b is Figure 2 is a partial structural cross-sectional view of another of the angles of the middle arm segment.

[0020] Figure 4 is an exploded schematic diagram of the gimbals in the arm segments and the adjacent two joint arms according to an embodiment of the present application.

[0021] Figure 5 is Figure 3a is a cross-sectional view at A-A.

[0022] Figure 6a is a schematic diagram of the structure of the gimbals according to an embodiment of the present application.

[0023] Figure 6b is a partial structural cross-sectional view of one of the angles of the gimbals according to an embodiment of the present application.

[0024] Figure 6c is a partial structural cross-sectional view of another of the angles of the gimbals according to an embodiment of the present application.

[0025] Figure 7a is a top view of the joint arm according to an embodiment of the present application.

[0026] Figure 7b is a longitudinal sectional view of the joint arm according to an embodiment of the present application.

[0027] Figure 8 is a schematic diagram of the structure of the drive box and the operating arm mounting frame according to an embodiment of the present application.

[0028] Figure 9 is a partial schematic diagram of the structure of the drive box according to an embodiment of the present application.

[0029] Figure 10a is a schematic diagram of the structure of the slider connecting the pulley according to an embodiment of the present application.

[0030] Figure 10b is a schematic diagram of the structure of the slider connecting the conversion block according to an embodiment of the present application

[0031] Figure 11 is a top view of the drive box with the upper support disc removed according to an embodiment of the present application.

[0032] Figure 12 is a practical application diagram according to the embodiment of the present application. DETAILED DESCRIPTION

[0033] The concept, specific structure and generated technical effects of the present application will be described clearly and completely in combination with the embodiments and the drawings, so as to fully understand the purpose, scheme and effects of the present application. It should be noted that the embodiments and the features in the embodiments in the present application can be combined with each other without conflict.

[0034] It should be noted that, unless otherwise specified, when a certain feature is referred to as being "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. In addition, the up, down, left, right, top, bottom and the like used in the present application are only relative to the relative position relationship of the components of the present application in the drawings.

[0035] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The term "and / or" used herein includes any combination of one or more related listed items.

[0036] It should be understood that although the terms first, second, third, etc. can be used in the present disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish one type of element from another type of element. For example, without departing from the scope of the present disclosure, the first element can also be referred to as the second element, and similarly, the second element can also be referred to as the first element.

[0037] Reference Figures 1 to 3bIn some embodiments, the present application provides a rope-driven segmented linkage flexible robot arm with joint sensing and dual closed-loop function, comprising: a driving box 2000; an operating arm provided on the driving box 2000, the operating arm comprising a plurality of sequentially connected arm segments 1000, each arm segment 1000 being connected by at least three driving ropes 1400 and the driving box 2000 respectively, and under the action of the driving box 2000, the driving ropes 1400 can pull each arm segment 1000 to bend; characterized in that each arm segment 1000 comprises: three or more joint arms 1100; a universal joint 1200 connecting two adjacent joint arms 1100; a first linkage rope 1500 connecting two spaced joint arms 1100, the first linkage rope 1500 defining that the two spaced joint arms 1100 rotate at equal angles in opposite directions along the first swing axis and / or the second swing axis of the arm segment 1000 at both ends of the intermediate joint arm 1100; a second linkage rope 1600 connecting two spaced joint arms 1100, the second linkage rope 1600 defining that the two spaced joint arms 1100 rotate at equal angles in opposite directions along the first swing axis and / or the second swing axis of the arm segment 1000 at both ends of the intermediate joint arm 1100; wherein the first swing axis and the second swing axis are perpendicular to each other. The first linkage rope 1500 and the second linkage rope 1600 are arranged alternately between each three joint arms 1100 of the operating arm arm segment 1000, to drive and limit each two spaced joint arms 1100 to rotate at equal angles in opposite directions along the first swing axis (pitch direction swing axis) or the second swing axis (yaw direction swing axis) of the arm segment 1000, to achieve the effect of equal angle linkage of all adjacent joint arms 1100 in the arm segment 1000, to achieve high precision and large angle movement of the arm segment 1000 in two degrees of freedom, and to facilitate the operator to improve the control precision of the robot arm.

[0038] Referring to Figure 3a , Figure 3b , Figure 4 and Figure 7bThe joint arm 1100 is provided with a first rotating connecting piece 1130 and a second rotating connecting piece 1140 at a first end away from the driving box 2000 and a second end close to the driving box 2000 respectively, and the first rotating connecting piece 1130 and the second rotating connecting piece 1140 are positionally symmetrical on the first end and the second end of the joint arm 1100; the first rotating connecting piece 1130 of the joint arm 1100 is rotationally connected to the gimbal 1200 on an A shaft of the gimbal 1200, and the second rotating connecting piece 1140 of the joint arm 1100 is rotationally connected to the gimbal 1200 on a B shaft of the gimbal 1200, wherein the A shaft and the B shaft are perpendicular to each other, the A shaft and the first swing shaft are perpendicular and / or parallel to each other in the axial direction, and the B shaft and the second swing shaft are perpendicular and / or parallel to each other in the axial direction; on the three adjacent joint arms 1100, the first linkage rope 1500 is wound between the gimbal 1200 connected to the first end of the middle joint arm 1100 and the gimbal 1200 connected to the second end of the middle joint arm 1100, the first linkage rope 1500 is wound along the first clock direction of the A shaft of the gimbal 1200 connected to the first end of the middle joint arm 1100 and is fixedly connected to the gimbal 1200, and the first linkage rope 1500 is wound along the second clock direction of the B shaft of the gimbal 1200 connected to the second end of the middle joint arm 1100 and is fixedly connected to the gimbal 1200, wherein the A shaft of the gimbal 1200 connected to the first end of the middle joint arm 1100 and the B shaft of the gimbal 1200 connected to the second end of the middle joint arm 1100 are parallel to each other, and the first clock direction and the second clock direction are opposite rotation directions.

[0039] In particular, with reference to Figure 3bOn the three adjacent joint arms 1100, the first linkage rope 1500 is wound on the two adjacent universal joints 1200 on the first end and the second end of the middle joint arm 1100. When the middle joint arm 1100 rotates around the B-axis of the universal joint 1200 on the second end, the first linkage rope 1500 passing through the universal joint 1200 in the first clockwise direction of the B-axis of the universal joint 1200 increases or decreases, thereby pulling the first linkage rope 1500 wound on the universal joint 1200 on the first end of the middle joint arm 1100 in the second clockwise direction, and through synchronous control, the decrease or increase of the first linkage rope 1500 wound on the universal joint 1200 in the second clockwise direction of the A-axis, so that the universal joint 1200 rotates around the first end of the middle joint arm 1100 in the second clockwise direction of the A-axis of the universal joint 1200 (i.e. opposite direction to the second clockwise direction of the B-axis of the universal joint 1200 on the second end of the middle joint arm 1100), thereby driving the joint arm 1100 adjacent to the first end of the middle joint arm 1100 connected to the universal joint 1200 to rotate with the universal joint 1200, and when the middle joint arm 1100 is taken as a reference, the joint arms 1100 at both ends thereof can simultaneously rotate around the middle joint arm 1100 in the first clockwise direction or the second clockwise direction of the first swing axis of the arm segment 1000 with reverse equal-angle linkage.

[0040] In addition, the A-axis and the B-axis are opposite to the A-axis and the B-axis in the drawings.

[0041] Referring to Figure 3a On the three adjacent joint arms 1100, the second linkage rope 1600 is wound between the universal joint 1200 connected to the first end of the middle joint arm 1100 and the universal joint 1200 connected to the second end of the middle joint arm 1100. On the universal joint 1200 connected to the first end of the middle joint arm 1100, the second linkage rope 1600 is wound in the third clockwise direction of the B-axis of the universal joint 1200 and is fixed to the adjacent joint arm 1100 of the first end of the middle joint arm 1100, and on the universal joint 1200 connected to the second end of the middle joint arm 1100, the second linkage rope 1600 is wound in the fourth clockwise direction of the A-axis of the universal joint 1200 and is fixed to the adjacent joint arm 1100 of the second end of the middle joint arm 1100, wherein the third clockwise direction and the fourth clockwise direction are opposite directions.

[0042] Specifically, on the three adjacent joint arms 1100, the first rotary connecting piece 1130 of the middle joint arm 1100 is rotatably connected to the universal joint 1200 on the A axis of the universal joint 1200, and the second connecting rope 1600 passes through the universal joint 1200 along the third clockwise direction of the B axis of the universal joint 1200, the second rotary connecting piece 1140 of the middle joint arm 1100 is rotatably connected to the universal joint 1200 on the B axis of the universal joint 1200, and the second connecting rope 1600 passes through the universal joint 1200 along the fourth clockwise direction of the A axis of the universal joint 1200, the rotation between the above two universal joints 1200 and the middle joint arm 1100 cannot pull the second connecting rope 1600, so that if the second connecting rope 1600 is fixed on the above two universal joints 1200, the reverse equal-angle linkage rotation of the two joint arms 1100 on both sides of the middle joint arm 1100 cannot be realized, therefore, after the second connecting rope 1600 passes through the universal joints 1200 at both ends of the middle joint arm 1100, it is fixed with the joint arms 1100 at both ends of the middle joint arm 1100, so that when the joint arm 1100 at the first end of the middle joint arm 1100 rotates along the third clockwise direction around the universal joint 1200 at the first end of the middle joint arm 1100, the joint arm 1100 at the second end of the middle joint arm 1100 is realized by pulling the second connecting rope 1600 to rotate along the fourth clockwise direction around the universal joint 1200 at the second end of the middle joint arm 1100, that is, when the middle joint arm 1100 is taken as a reference, the joint arms 1100 at both ends thereof can simultaneously rotate around the middle joint arm 1100 along the third clockwise direction or the fourth clockwise direction of the second swing axis of the arm segment 1000 in reverse equal-angle linkage.

[0043] In addition, as Figure 3a and Figure 3bIn the extension direction of the arm segment 1000, in three adjacent joint arms 1100 uniting in sequence, the included angle between the winding direction of the first linkage rope 1500 in the first three adjacent joint arms 1100 and the first linkage rope 1500 in the last three adjacent joint arms 1100 is 90 degrees, and the included angle between the winding direction of the second linkage rope 1600 in the first three adjacent joint arms 1100 and the second linkage rope 1600 in the last three adjacent joint arms 1100 is 90 degrees. That is, the first three adjacent joint arms 1100 realize the equal-angle linkage in the reverse direction of the first swing axis in the first or second clock direction through the first linkage rope 1500, and after one joint arm 1100 is advanced, the last three adjacent joint arms 1100 realize the equal-angle linkage in the reverse direction of the first swing axis in the first or second clock direction through the second linkage rope 1600; similarly, the first three adjacent joint arms 1100 realize the equal-angle linkage in the reverse direction of the second swing axis in the third or fourth clock direction through the first linkage rope 1500, and after one joint arm 1100 is advanced, the last three adjacent joint arms 1100 realize the equal-angle linkage in the reverse direction of the second swing axis in the third or fourth clock direction through the second linkage rope 1600, so as to realize the equal-angle linkage effect of each joint arm 1100 of the arm segment 1000 and the large-angle rotation of the arm segment 1000.

[0044] With reference to Figures 3a to 6c The outer side of the universal joint 1200 is provided with four mutually perpendicular mounting surfaces 1210 at the two ends thereof along the A axis and the B axis, the mounting surfaces 1210 are provided with bosses 1250, two first rotary connecting members 1130 are rotatably connected with two bosses 1250 at the two ends thereof opposite the A axis, and two second rotary connecting members 1140 are rotatably connected with the other two bosses 1250 at the two ends thereof opposite the B axis; the outer periphery of the boss 1250 is provided with a first rope winding groove 1251, and the first linkage rope 1500 is wound in the first rope winding groove 1251; the universal joint 1200 is provided with an arc-shaped frame 1260 at the first end thereof away from the drive box 2000 and the second end thereof close to the drive box 2000, the arc-shaped frame 1260 at the first end of the universal joint 1200 away from the drive box 2000 is provided with a second rope winding groove 1261 in the axial direction of the A axis of the universal joint, and the arc-shaped frame 1260 at the second end of the universal joint 1200 close to the drive box 2000 is provided with a second rope winding groove 1261 in the axial direction of the B axis of the universal joint, and the second linkage rope 1600 is wound in the second rope winding groove 1261.

[0045] Specifically, the first winding grooves 1251 of the adjacent two bosses 1250 of the two universal joints 1200 rotatably connected with the first end first rotary connecting piece 1130 and the second end second rotary connecting piece 1140 of the articulated arm 1100 are parallel and corresponding, so that the first linkage rope 1500 wound and unwound on the adjacent two universal joints 1200 is along a fixed angle, avoiding the change of the winding angle of the first linkage rope 1500 to cause the adjacent two universal joints 1200 to be unable to accurately reverse the equal angle linkage. The arc-shaped frame 1260 arranged at the first end away from the drive box 2000 and the second end close to the drive box 2000 of the universal joint 1200 respectively enables the second linkage rope 1600 to uniformly pass the universal joint 1200, and the second winding grooves 1261 arranged on the arc-shaped frame 1260 of the first end away from the drive box 2000 of the universal joint 1200 along the A-axis of the universal joint and on the arc-shaped frame 1260 of the second end close to the drive box 2000 of the universal joint 1200 along the B-axis of the universal joint 1200, avoids the second linkage rope 1600 from creeping and deviating during passing the arc-shaped frame 1260, and causes the adjacent two articulated arms 1100 of the intermediate articulated arm 1100 to be unable to accurately reverse the equal angle linkage.

[0046] In addition, the first linkage rope 1500 includes two, one end of the two first linkage ropes 1500 is respectively wound on the first winding grooves 1251 of the two bosses 1250 along the opposite rotation direction of the A-axis of the universal joint 1200 at the universal joint 1200 connected with the first rotary connecting piece 1130 of the articulated arm 1100 and is fixedly connected with the bosses 1250, the other end of the two first linkage ropes 1500 is respectively wound on the first winding grooves 1251 of the two bosses 1250 along the opposite rotation direction of the B-axis of the universal joint 1200 at the universal joint 1200 connected with the second rotary connecting piece 1140 of the articulated arm 1100 and is fixedly connected with the bosses 1250; the second linkage rope 1600 includes two, one end of the two second linkage ropes 1600 is respectively wound on the second winding grooves 1261 of the arc-shaped frame 1260 along the opposite rotation direction of the B-axis of the universal joint 1200 at the universal joint 1200 connected with the first rotary connecting piece 1130 of the intermediate articulated arm 1100 and is fixedly connected with the articulated arm 1100 of the first end of the intermediate articulated arm 1100, the other end of the two second linkage ropes 1600 is respectively wound on the second winding grooves 1261 of the arc-shaped frame 1260 along the opposite rotation direction of the A-axis of the universal joint 1200 at the universal joint 1200 connected with the second rotary connecting piece 1140 of the intermediate articulated arm 1100 and is fixedly connected with the articulated arm 1100 of the second end of the intermediate articulated arm 1100.

[0047] Referring toFigure 4 、 Figure 7a and Figure 7b , the joint arm 1100 includes an arm rod 1110 with a cavity 1111 and disc parts 1120 connected at the first end and the second end of the arm rod 1110 respectively, two first rotary connectors 1130 are arranged on the disc part 1120 at the first end of the arm rod 1110, and two second rotary connectors 1140 are arranged on the disc part 1120 at the second end of the arm rod 1110; the arm rod 1110 is provided with a through hole 1112 for the second linkage rope 1600 to pass through and be fixed; the disc part 1120 is provided with a first through hole 1121 along the circumference for the driving rope 1400 to pass through or be connected, specifically, the first through hole 1121 can effectively fix the driving rope 1400 connected at the end of the first through hole 1121 and ensure the smoothness of the movement of the driving rope 1400 passing through the first through hole 1121, and the driving rope 1400 is connected with the driving box 2000 after passing out from the arm segment 1000 close to one end of the driving box 2000, and in the example of the application, the triangle formed by the passing and fixing positions of the three driving ropes 1400 driving each arm segment 1000 is an equilateral triangle, two of which are used for azimuth control, and one is used for force control.

[0048] Referring to Figure 4 and Figure 7a , the disc part 1120 is provided with a second through hole 1122 outside the two first rotary connectors 1130 and the two second rotary connectors 1140 respectively, the second through hole 1122 corresponds to the second rope winding groove 1261, and a rope guide hose 1700 is arranged between the two second through holes 1122 on the two disc parts 1120, the second linkage rope 1600 wound in the second rope winding groove 1261 of the adjacent two universal joints 1200 passes through the second through hole 1122 and the rope guide hose 1700, the cross-arranged rope guide hose can make the second linkage rope 1600 pass through the second through hole 1122 between the two disc parts 1120 of the joint arm 1100 in the opposite direction by 180 degrees and then pass around the arm rod 1110 in an S shape, improving the smoothness and avoiding wear of the second linkage rope 1600; the disc part 1120 is provided with a third through hole 1123 inside the two first rotary connectors 1130 and the two second rotary connectors 1140, the third through hole 1123 corresponds to the first rope winding groove 1251, and the first linkage rope 1500 wound in the first rope winding groove 1251 of the adjacent two universal joints 1200 passes through the third through hole 1123, the third through hole 1123 makes the first linkage rope 1500 wound between the adjacent two universal joints 1200 remain straight without bending, avoiding the bending of the first linkage rope 1500 to increase the operating resistance of the reverse synchronous linkage between the two adjacent universal joints 1200.

[0049] Further, the two ends of the guide rope hose 1700 are connected to the disc parts 1120 at the two ends of the articulated arm 1100 through the rope passing auxiliary parts 1800 respectively.

[0050] With reference to Figure 4 and Figure 7a , the outer sides of the first and second rotary connecting parts 1130 and 1140 are respectively provided with avoiding grooves 1133 corresponding to the second through holes 1122, and the first and second rotary connecting parts 1130 and 1140 are respectively provided with fan-shaped notches 1134 in communication with the avoiding grooves 1133 at the outer sides of the end parts rotatably connected to the universal joint 1200, the second linkage rope 1600 between the second rope winding groove 1261 and the second through hole 1122 is arranged in the avoiding grooves 1133 and the fan-shaped notches 1134, the avoiding grooves 1133 make the second linkage rope 1600 arranged therein, and the fan-shaped notches 1134 cooperating with the second linkage rope 1600 between the avoiding grooves 1133 and the second rope winding groove 1261 can bend around the A and B shafts of the universal joint 1200, effectively avoiding the displacement of the second linkage rope 1600 at the outer sides of the first and second rotary connecting parts 1130 and 1140 when the second linkage rope 1600 is pulled, and affecting the reverse synchronous linkage precision of the articulated arms 1100.

[0051] With reference to Figures 4 to 6cThe boss 1250 outside the universal joint 1200 is respectively provided with two second shaft holes 1230 and two second rotating holes 1220, two adjacent boss 1250 are provided with two second shaft holes 1230, two adjacent boss 1250 are provided with two second rotating holes 1220, the second shaft hole 1230 and the second rotating hole 1220 are located in the opposite two boss 1250, two second shaft holes 1230 are fixedly connected with a hollow first rotating shaft 1340, two second rotating holes 1220 are rotatably connected with a second rotating shaft 1360 through a second bearing 1370; One end of two first rotating connecting pieces 1130 or second rotating connecting pieces 1140 is provided with a first rotating hole 1131, the first rotating hole 1131 is rotatably connected with the first rotating shaft 1340 through a first bearing 1350, the other end of two first rotating connecting pieces 1130 or second rotating connecting pieces 1140 is provided with a first shaft hole 1132, the first shaft hole 1132 is fixedly connected with the second rotating shaft 1360, so as to realize smooth rotating connection of the universal joint 1200 and the adjacent two joint arms 1100; The universal joint 1200 is hollow, two angle sensing devices 1300 are arranged on the universal joint 1200, the angle sensing device 1300 comprises an encoder 1310, the encoder 1310 is arranged in the universal joint 1200 and has an input shaft 1320 extending into the hollow first rotating shaft 1340; A connecting block 1330 is fixedly connected at one end of the input shaft 1320 and at the other end of the first rotating connecting piece 1130 or the second rotating connecting piece 1140, and the first is respectively provided with a slot 1135 fixedly connected with the other end of the connecting block 1330.

[0052] Specifically, two angle sensing devices 1300 can respectively perceive and calculate the rotating angle of the adjacent two joint arms 1100 of the universal joint 1200 rotating about the A shaft and the B shaft of the universal joint 1200, and the rotating angle is defined as the relative rotating angle between the joint arm 1100 connected with the input shaft 1320 and the universal joint 1200. And along the extension direction of the joint arm 1100, the installation positions of the angle sensing devices 1300 of the adjacent universal joints 1200 are distributed in a spiral shape, that is, the installation positions of the angle sensing devices 1300 are staggered by an included angle of 90 degrees every advancing one universal joint 1200, so as to maintain the overall balance of the joint arm 1100.

[0053] In addition, in order to increase the flexibility of the flexible operating arm and prolong the service life of the operating arm, the thickness of the arm rod 1110 and the thickness of the universal joint 1200 gradually decrease along the extension direction of the operating arm. In the joint arm 1100 close to the driving box 2000, the thickness of the arm rod 1110 and the disc part 1120 is 2.5 mm at most, and the thickness of the thickest part of the universal joint 1200 is 4 mm at most. In the joint arm 1100 away from the driving box 2000, the thickness of the arm rod 1110 is 1.6 mm at most, and the thickness of the thickest part of the universal joint 1200 is 3.2 mm at most. The disc part 1120 gradually decreases in thickness towards the outside away from the arm rod 1110, and the disc part 1120 of the end joint arm 1100 away from the driving box 2000 is thickened to overcome the normal pressure of the rope head of the end driving rope 1400 on the surface of the disc part 1120. In order to further reduce the weight of the operating arm, the arm rod 1110, the first rotating connecting piece 1130 and the second rotating connecting piece 1140 are provided with hollow holes.

[0054] It should be noted that, with reference to Figures 6a to 6c , in order to improve the connection stability of the ends of the first linkage rope 1500 and the second linkage rope 1600, the outer side of the arm rod 1110 is provided with a reinforcing seat 1113, the through hole 1112 is arranged on the reinforcing seat 1113, the end of the second linkage rope 1600 passes through the through hole 1112 and is fixed to the arm rod 1110 by the cooperation of the rope head and the reinforcing seat 1113; the boss 1250 is provided with a fixed hole 1252 with a diameter larger than the first rope winding groove 1251 at the end of the first rope winding groove 1251 along the groove of the first rope winding groove 1251, or the boss 1250 is provided with a locking hole 1253 communicating with the first rope winding groove 1251 on one side of the end of the first rope winding groove 1251, and the rope head of the end of the second linkage rope 1600 is clamped with the fixed hole 1252 or is fastened in the end of the first rope winding groove 1251 by the cooperation of the locking hole 1253 and the screw.

[0055] With reference to Figure 4 and Figure 5 , the second rotating hole 1220 is provided with a shoulder 1221, and the axial position of the second rotating shaft 1360 is constrained by the cooperation of the second bearing 1370 and the shoulder 1221; the first rotating shaft 1340 is provided with a connecting plate 1341, and the second shaft hole 1230 is provided with a mounting groove 1240, and the axial position of the first rotating shaft 1340 is constrained by the cooperation of the connecting plate 1341 and the mounting groove 1240. Specifically, the second bearing 1370 is arranged in the axial direction of the second rotating shaft 1360, and two second bearings 1370 are spaced apart by a retainer 1380.

[0056] With reference to Figure 8The driving box 2000 comprises: a driving box support 2100 connected with the operating arm through the operating arm mounting frame 1900; a plurality of driving assemblies 2200 for winding and unwinding each driving rope 1400 to bend each arm segment 1000, the plurality of driving assemblies 2200 being arranged on the driving box support 2100 in a circumferential direction, referring to Figure 9 The driving assembly 2200 comprises: a motor 2260 fixed on the side of the driving box support 2100; a guide rail 2220 arranged on the side of the driving box support 2100 in the extension direction of the operating arm; a lead screw 2210, one end of which is connected with the output shaft of the motor 2260, and the other end is rotatably connected with the driving box support 2100, the guide rail 2220 being parallel to the lead screw 2210; a sliding block 2230 slidably mounted on the guide rail 2220, and the sliding block 2230 being threadedly connected with the lead screw 2210, specifically, a lead screw nut 2231 is arranged on the sliding block 2230, the lead screw 2210 threadedly engaging with the lead screw nut 2231, the sliding block 2230 being rotatably connected with a pulley 2240 or fixedly connected with a conversion block 2290; wherein one end of the driving rope 1400 is fixedly connected with the conversion block 2290 or passes through the pulley 2240 and is fixedly connected with the driving box support 2100. An active slot 2232 is arranged on the sliding block 2230, the pulley 2240 being rotatably arranged in the active slot 2232 or the conversion block 2290 being fixedly arranged in the active slot 2232; each driving assembly 2200 further comprises a tension sensor 2300 arranged between one end of the driving rope 1400 and the driving box support 2100 or arranged between one end of the driving rope 1400 and the conversion block 2290.

[0057] Specifically, referring to Figure 9 and Figure 10a By one end of the driving rope 1400 passing through the pulley 2240 on the movable sliding block 2230, the movable pulley 2240 structure is realized, the theoretical stroke of the motor 2260 driving the sliding block 2230 through the lead screw 2210 is shortened by one time, so that the height of the driving box 2000 can be effectively reduced, so that the driving box 2000 is smaller in size, which helps the flexible mechanical arm of the present application to enter a narrow space for work, helps to improve the application scene, and through the cooperation of the sliding block 2230 pulley 2240 and the lead screw 2210, the phenomenon of reducing the control accuracy such as peristalsis and crawling of the driving rope 1400 on the pulley 2240 is effectively avoided, and in the embodiments of the present application, as Figure 11As shown, the vertical section of each driving assembly 2200 is deflected at a certain angle from the center of the driving box support 2100, so that the inside of the driving box 2000 can be designed more compactly, further reducing the diameter of the flexible mechanical arm driving box 2000, and effectively reducing the overall volume of the driving box 2000 by the structure of the movable pulley 2240 of the driving assembly 2200.

[0058] In addition, with reference to Figure 9 and Figure 10b As a supplementary scheme of the above-mentioned driving assembly 2200, one end of the driving rope 1400 is fixed to the slider 2230 through the conversion block 2290 in the active slot 2232 of the slider 2230, so that the pulling force of the motor 2260 driving the slider 2230 through the lead screw 2210 is maximized.

[0059] After one end of the driving rope 1400 is fixed to the driving box support 2100 through the tension sensor 2300 or directly connected to the adapter block on the slider 2230 through the tension sensor 2300, the tension sensor 2300 at one end of the driving rope 1400 can obtain the tension data of each driving rope 1400 in each arm segment 1000 during the operation of the flexible arm, so that in the embodiment of the present application, each driving assembly 2200 can be provided with a movable pulley 2240 structure in the early stage, and after the tension of each driving rope 1400 is measured by the tension sensor 2300 and the sliding distance of the corresponding driving rope 1400 is observed, the driving assembly 2200 in which the driving rope 1400 is subjected to a large tension and the slider 2230 slides a short distance is changed to a supplementary scheme in which one end of the driving rope 1400 is directly fixed to the slider 2230 through the tension sensor 2300 and the conversion block 2290, and the driving assembly 2200 in which the driving rope 1400 is subjected to a reasonable tension and the sliding distance is long is maintained in the movable pulley 2240 structure, so as to reduce the stress of each driving assembly 2200 without affecting the overall movement range of the flexible mechanical arm, thereby prolonging the service life of the driving box 2000 and reducing the precision influence caused by the wear and deformation of the driving rope 1400. Moreover, the closer to the driving box 2000, the greater the tension required by the three driving ropes 1400 of the arm segment 1000 and the shorter the stroke of the driving rope 1400, so in the preferred embodiment of the present application, the six driving ropes 1400 corresponding to the driving assemblies 2200 of the two arm segments 1000 close to the driving box 2000 are changed to be directly fixed to the slider 2230 through the tension sensor 2300 and the conversion block 2290 at one end of the driving rope 1400, and the three driving ropes 1400 corresponding to the driving assemblies 2200 of the arm segment 1000 away from the driving box 2000 are maintained in the connection mode of the movable pulley 2240 structure.

[0060] Specifically, the tension sensor 2300 can detect the force of the driving rope 1400, thereby avoiding the driving rope 1400 from being broken due to excessive force, and the data measured by the tension sensor 2300 in cooperation with the angle sensing device 1300 on the universal joint 1200 can realize some algorithms of flexible mechanical arms.

[0061] With reference to Figure 9 In order to facilitate the installation of the driving assembly 2200 on the driving box support 2100, the driving box support 2100 comprises an upper support disc 2110 connected with the operating arm mounting frame 1900, a fixed disc 2130 connected to the side of the upper support disc 2110 away from the operating arm through a support column 2120, and the outer side edges of the fixed disc 2130 are uniformly provided with a plurality of clamping holes 2131, a lower support disc 2150 connected to the side of the fixed disc 2130 away from the operating arm through a support cylinder 2140, wherein the motor 2260 is installed between the side of the fixed disc 2130 and the lower support disc 2150 through the connection of the driving support 2280 and the fixed disc 2130, the other end of the lead screw 2210 passes through the clamping hole 2131 of the fixed disc 2130 and is rotationally connected with the upper support disc 2110, one end of the guide rail 2220 is connected with the upper support disc 2110, and the other end passes through the clamping hole 2131 of the fixed disc 2130 and is connected with the driving support 2280, and the sliding block 2230 moves along the guide rail 2220 and the lead screw 2210 between the upper support disc 2110 and the fixed disc 2130. Specifically, when assembling the driving box 2000, the upper support disc 2110, the support column 2120, the fixed disc 2130, the support cylinder 2140 and the lower support disc 2150 are connected to form the driving box support 2100, and each group of assembled driving assembly 2200 is clamped into the clamping hole 2131 of the fixed disc 2130 along the guide rod and the lead screw 2210, and the driving support 2280 and the fixed disc 2130 are fixedly connected through fasteners, so that each group of driving assembly 2200 can be quickly and modularly connected with the driving box support 2100, the difficulty of production assembly is reduced, and the assembly efficiency is improved.

[0062] Specifically, each group of driving assembly 2200 further comprises a driver 2270 arranged on the lower support disc 2150, and the driver 2270 is electrically connected with the motor 2260 and the upper computer respectively, and in order to protect the motor 2260, the output shaft of the motor 2260 is connected with the lead screw 2210 through the shaft coupling 2250, and the lead screw 2210 is rotationally connected with the driving support 2280 through the thrust bearing 2251.

[0063] In addition, with reference to Figure 12In the practical application of the flexible mechanical arm, in order to avoid the collision of external objects with the driving assembly 2200 in the driving box 2000 and the exposed first linkage rope 1500 or the guide rope hose 1700 between the two disc parts 1120 of the joint arm 1100, the joint arm 1100 is provided with a joint shell 1910 around the two disc parts 1120, the outer side of the driving box support 2100 is provided with a machine shell 2400, and in order to facilitate the capture of visual information of the end joint arm 1100 of the operation arm, so as to further control the flexible mechanical arm, the end joint arm 1100 is provided with a camera assembly 3000, which includes a camera mounting shell 3100 around the two disc parts 1120 of the end joint arm 1100 and a camera 3200 mounted on the camera mounting shell 3100.

[0064] The above is only the preferred embodiment of the present application, and the present application is not limited to the above-mentioned embodiments. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure. All should belong to the protection scope of the present application. The technical solutions and / or embodiments within the protection scope of the present application can have various modifications and changes.

Claims

1. A rope-driven segmented linkage flexible manipulator with joint awareness and dual closed-loop function, comprising: a driving box (2000) ; an operating arm provided on the driving box (2000), the operating arm comprising a plurality of sequentially connected arm segments (1000), each arm segment (1000) being connected by at least three driving ropes (1400) and the driving box (2000) respectively, and under the action of the driving box (2000), the driving ropes (1400) can pull each arm segment (1000) to bend each arm segment (1000) ; characterized in that, each arm segment (1000) comprises: three or more joint arms (1100) ; a universal joint (1200) connecting two adjacent joint arms (1100) ; a first linkage rope (1500) connecting two spaced joint arms (1100), the first linkage rope (1500) defining the two spaced joint arms (1100) to rotate at equal angles along the first swing axis and / or the second swing axis of the arm segment (1000) at the two ends of the intermediate joint arm (1100) in opposite directions; a second linkage rope (1600) connecting two spaced joint arms (1100), the second linkage rope (1600) defining the two spaced joint arms (1100) to rotate at equal angles along the first swing axis and / or the second swing axis of the arm segment (1000) at the two ends of the intermediate joint arm (1100) in opposite directions; wherein the first swing axis and the second swing axis are perpendicular to each other in the axial direction; the universal joint (1200) is provided with an arc-shaped bracket (1260) at the first end away from the driving box (2000) and the second end close to the driving box (2000) ; the universal joint (1200) is hollow inside, and two angle sensing devices (1300) are provided on the universal joint (1200), the angle sensing device (1300) comprising: an encoder (1310) provided inside the universal joint (1200) and having an input shaft (1320) extending into the hollow first rotating shaft (1340) ; a connecting block (1330), one end of the connecting block (1330) being fixedly connected to the input shaft (1320), and the other end being fixedly connected to the first rotating connecting piece (1130) or the second rotating connecting piece (1140). 2.The rope-driven segmented linkage flexible manipulator according to claim 1, characterized in that, the joint arm (1100) is provided with the first rotating connecting piece (1130) and the second rotating connecting piece (1140) at the first end away from the driving box (2000) and the second end close to the driving box (2000), respectively. The first rotary connecting piece (1130) of the articulated arm (1100) is rotatably connected to the gimbal (1200) on the A-axis of the gimbal (1200), and the second rotary connecting piece (1140) of the articulated arm (1100) is rotatably connected to the gimbal (1200) on the B-axis of the gimbal (1200), wherein the A-axis and the B-axis are perpendicular to each other, the A-axis and the first swing axis are perpendicular to each other in the axial direction and / or parallel to each other, and the B-axis and the second swing axis are perpendicular to each other in the axial direction and / or parallel to each other; On the three adjacent articulated arms (1100), the first linkage rope (1500) is wound between the gimbal (1200) connected to the first end of the middle articulated arm (1100) and the gimbal (1200) connected to the second end of the middle articulated arm (1100), on the gimbal (1200) connected to the first end of the middle articulated arm (1100), the first linkage rope (1500) is wound along the first clockwise direction of the A-axis of the gimbal (1200) and is fixed to the gimbal (1200), and on the gimbal (1200) connected to the second end of the middle articulated arm (1100), the first linkage rope (1500) is wound along the second clockwise direction of the B-axis of the gimbal (1200) and is fixed to the gimbal (1200), wherein the A-axis of the gimbal (1200) connected to the first end of the middle articulated arm (1100) and the B-axis of the gimbal (1200) connected to the second end of the middle articulated arm (1100) are parallel to each other, and the first clockwise direction and the second clockwise direction are opposite directions of rotation; On the three adjacent articulated arms (1100), the second linkage rope (1600) is wound between the gimbal (1200) connected to the first end of the middle articulated arm (1100) and the gimbal (1200) connected to the second end of the middle articulated arm (1100), on the gimbal (1200) connected to the first end of the middle articulated arm (1100), the second linkage rope (1600) is wound along the third clockwise direction of the B-axis of the gimbal (1200) and is fixed to the adjacent articulated arm (1100) of the first end of the middle articulated arm (1100), and on the gimbal (1200) connected to the second end of the middle articulated arm (1100), the second linkage rope (1600) is wound along the fourth clockwise direction of the A-axis of the gimbal (1200) and is fixed to the adjacent articulated arm (1100) of the second end of the middle articulated arm (1100), wherein the third clockwise direction and the fourth clockwise direction are opposite directions of rotation.

3. The rope-driven segmented linkage flexible manipulator according to claim 2, wherein, The outer side of the universal joint (1200) is provided with four mutually perpendicular mounting surfaces (1210) at the two ends of its A-axis and B-axis, and the mounting surfaces (1210) are provided with bosses (1250), two first rotary connectors (1130) are rotatably connected with two bosses (1250) at the opposite ends of the A-axis, and two second rotary connectors (1140) are rotatably connected with the other two bosses (1250) at the opposite ends of the B-axis; The outer periphery of the boss (1250) is provided with a first rope winding groove (1251), and the first linkage rope (1500) is wound in the first rope winding groove (1251); A second rope winding groove (1261) is provided on the arc-shaped frame (1260) of the universal joint (1200) away from the first end of the drive box (2000) and axially along the A-axis of the universal joint, and a second rope winding groove (1261) is provided on the arc-shaped frame (1260) of the universal joint (1200) close to the second end of the drive box (2000) and axially along the B-axis of the universal joint (1200), and the second linkage rope (1600) is wound in the second rope winding groove (1261).

4. The rope-driven segmented linkage flexible mechanical arm according to claim 3, wherein The joint arm (1100) comprises an arm rod (1110) having a cavity (1111) and disc portions (1120) connected to the first end and the second end of the arm rod (1110) respectively, two first rotary connectors (1130) are arranged on the disc portion (1120) at the first end of the arm rod (1110), and two second rotary connectors (1140) are arranged on the disc portion (1120) at the second end of the arm rod (1110); The arm rod (1110) is provided with a through hole (1112) through which the second linkage rope (1600) passes and is fixed; The disc portion (1120) is provided with a first through hole (1121) along the circumference for the driving rope (1400) to pass through or be connected; The disc portion (1120) is provided with a second through hole (1122) outside the two first rotary connectors (1130) and the two second rotary connectors (1140) respectively, the second through hole (1122) corresponds to the second rope winding groove (1261), and a rope guide hose (1700) is arranged between the opposite two second through holes (1122) on the two disc portions (1120) to cross, and the second linkage rope (1600) wound in the second rope winding groove (1261) of the adjacent two universal joints (1200) passes through the second through hole (1122) and the rope guide hose (1700); The disc portion (1120) is provided with a third through hole (1123) inside the two first rotary connectors (1130) and the two second rotary connectors (1140), the third through hole (1123) corresponds to the first rope winding groove (1251), and the first linkage rope (1500) wound in the first rope winding groove (1251) of the adjacent two universal joints (1200) passes through the third through hole (1123).

5. The rope-driven segmented-linkage flexible robotic arm according to claim 4, wherein, the outer side of the first rotary connecting piece (1130) and the second rotary connecting piece (1140) is respectively provided with an avoiding slot (1133) corresponding to the second through hole (1122), and the outer side of the end part of the first rotary connecting piece (1130) and the second rotary connecting piece (1140) rotatably connected with the universal joint (1200) is respectively provided with a sector-shaped notch (1134) in communication with the avoiding slot (1133), and the second linkage rope (1600) between the second rope winding groove (1261) and the second through hole (1122) is arranged in the avoiding slot (1133) and the sector-shaped notch (1134).

6. The rope-driven segmented-linkage flexible robotic arm according to claim 3, wherein, the outer side of the universal joint (1200) is provided with two second shaft holes (1230) and two second rotary holes (1220) respectively, the two second shaft holes (1230) are located at the adjacent two bosses (1250), the two second rotary holes (1220) are located at the adjacent two bosses (1250), the second shaft hole (1230) and the second rotary hole (1220) are located at the opposite two bosses (1250), the two second shaft holes (1230) are fixedly connected with a hollow first rotary shaft (1340), and the second rotary hole (1220) is rotatably connected with a second rotary shaft (1360) through a second bearing (1370); one end part of the two first rotary connecting pieces (1130) or the second rotary connecting pieces (1140) is provided with a first rotary hole (1131) rotatably connected with the first rotary shaft (1340) through a first bearing (1350), and the other end part of the two first rotary connecting pieces (1130) or the second rotary connecting pieces (1140) is provided with a first shaft hole (1132) fixedly connected with the second rotary shaft (1360).

7. The rope-driven segmented-linkage flexible robotic arm according to claim 6, wherein, the second rotary hole (1220) is provided with a stop shoulder (1221), and the axial position of the second rotary shaft (1360) is constrained through cooperation of the second bearing (1370) and the stop shoulder (1221); the first rotary shaft (1340) is provided with a connecting plate (1341), and the second shaft hole (1230) is provided with a mounting slot (1240), and the axial position of the first rotary shaft (1340) is constrained through cooperation of the connecting plate (1341) and the mounting slot (1240).

8. The rope-driven segmented ser vo-hydraulic flexible manipulator of claim 1, wherein, the driving box (2000) comprises: a driving box support (2100) connected with the operating arm through the operating arm mounting rack (1900); A plurality of drive assemblies (2200) for winding and unwinding each driving rope (1400) to bend each arm segment (1000), the plurality of drive assemblies (2200) are arranged on the drive box support (2100) along the circumferential direction, the drive assembly (2200) comprises: a motor (2260) fixed on the side of the drive box support (2100); a guide rail (2220) arranged on the side of the drive box support (2100) along the extension direction of the operating arm; a screw rod (2210) with one end connected with the output shaft of the motor (2260) and the other end rotatably connected with the drive box support (2100), the guide rail (2220) is parallel to the screw rod (2210); a sliding block (2230) slidingly arranged on the guide rail (2220) and threadedly connected with the screw rod (2210), the sliding block (2230) is rotatably connected with a pulley (2240) or fixedly connected with a conversion block (2290); wherein one end of the driving rope (1400) is fixedly connected with the conversion block (2290) or passes through the pulley (2240) and is fixedly connected with the drive box support (2100).

9. The rope-driven segmented ser vo-hydraulic flexible manipulator of claim 8, wherein, The drive box support (2100) comprises: an upper support disc (2110) connected with the operating arm mounting frame (1900); a fixed disc (2130) connected with the upper support disc (2110) on the side away from the operating arm through a support column (2120); a lower support disc (2150) connected with the fixed disc (2130) on the side away from the operating arm through a support cylinder (2140); wherein the motor (2260) is mounted on the side between the fixed disc (2130) and the lower support disc (2150) through the drive support (2280) connected with the fixed disc (2130); the other end of the screw rod (2210) passes through the fixed disc (2130) and is rotatably connected with the upper support disc (2110); one end of the guide rail (2220) is connected with the upper support disc (2110) and the other end passes through the fixed disc (2130) and is connected with the drive support (2280); the sliding block (2230) moves along the guide rail (2220) and the screw rod (2210) between the upper support disc (2110) and the fixed disc (2130).

10. The rope-driven segmented linkage flexible robot arm according to claim 8, wherein the sliding block (2230) is provided with a movable groove (2232), the pulley (2240) is rotatably arranged in the movable groove (2232) or the conversion block (2290) is fixedly arranged in the movable groove (2232); each of the drive assemblies (2200) further comprises a tension sensor (2300) arranged between one end of the driving rope (1400) and the drive box support (2100) or arranged between one end of the driving rope (1400) and the conversion block (2290).

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