Rope-driven segmented compliant robotic arm with multiple linkage constraints

Abstract

The present application relates to a rope-driven segmented linkage flexible robot arm with multiple linkage constraints, comprising arm segments connected in sequence to form an operating arm, which comprises seven or more jointed arms; a first linkage structure defining two jointed arms with equal angles of rotation in opposite directions along the first swing axis or the second swing axis of the arm segment at the two ends of the intermediate jointed arm; a second linkage structure defining every two jointed arms with equal angles of rotation in opposite directions along the first linkage structure at the two ends of the intermediate jointed arm; a third linkage rope defining two jointed arms with equal angles of rotation in opposite directions along the first linkage structure at the two ends of the intermediate 4n+1 jointed arms defining every 4n+1 jointed arms; and a fourth linkage rope defining two jointed arms with equal angles of rotation in opposite directions along the second linkage structure at the two ends of the intermediate 2n+1 jointed arms defining every 2n+1 jointed arms. Through the linkage constraints between the jointed arms in the arm segment, high precision and large angle movement of the arm segment in two degrees of freedom is achieved.

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 multiple linkage constraints. BACKGROUND

[0002] In recent years, linkage type flexible robot arms are widely used in aerospace, explosive ordnance disposal, wire cutting and other tasks. Compared with traditional full-drive type flexible robot arms, linkage type flexible robot arms have the advantages of larger movement range, longer arm segments, more continuous arm shape and better flexibility. In theory, the pitch and yaw angles of each linkage joint segment of the linkage type flexible robot arm can realize equal-angle linkage. However, in practice, the existing linkage type flexible robot arms cannot realize true equal-angle linkage due to uneven linkage rope pretightening force, rope friction and deformation and other factors. Moreover, the error between linkage angles will increase sharply with the increase of the number of arm segment joints and the length of arm segments, which greatly limits the application of linkage type flexible robot arms in long-distance and high-precision operation scenarios such as space. SUMMARY

[0003] The present application provides a rope-driven segmented linkage flexible robot arm with multiple linkage constraints, which aims to at least solve one of the technical problems existing in the prior art.

[0004] The technical scheme of the present application is a rope-driven segmented linkage flexible robot arm with multiple linkage constraints, which comprises an operating arm driven by a driving device, the operating arm comprising a plurality of sequentially connected arm segments, each arm segment being driven by at least three driving ropes pulled by the driving device to bend each arm segment; each arm segment comprises: seven or more joint arms; a universal joint connecting two adjacent joint arms; a first linkage structure, the first linkage structure defining the opposite rotation of each two joint arms spaced apart at the two ends of the intermediate joint arm along the first swing axis and / or the second swing axis of the arm segment at equal angles; a second linkage structure, the second linkage structure defining the opposite rotation of each two joint arms spaced apart at the two ends of the intermediate joint arm along two directions perpendicular to the rotation direction defined by the first linkage structure at equal angles; a third linkage rope connecting every 4n+1 joint arms, the third linkage rope defining the rotation of every two joint arms spaced apart by 4n+1 joint arms at the two ends of the intermediate 4n+1 joint arms along the two rotation directions defined by the first linkage structure at equal angles; a fourth linkage rope connecting every 2n+1 joint arms, the fourth linkage rope defining the rotation of every two joint arms spaced apart by 2n+1 joint arms at the two ends of the intermediate 2n+1 joint arms along the two rotation directions defined by the second linkage structure at equal angles; wherein the first swing axis is substantially perpendicular to the second swing axis.

[0005] Further, the two ends of the joint arm are provided with rotating connecting members; the rotating connecting member at the first end of the joint arm is rotatably connected to the universal joint on the A shaft of the universal joint, and the rotating connecting member at the second end of the joint arm is rotatably connected to the universal joint on the B shaft of the universal joint, wherein the A shaft and the first swing shaft are substantially perpendicular and / or substantially parallel, and the B shaft is substantially perpendicular to the A shaft on one universal joint; on the seven adjacent joint arms, the third linkage rope is wound between the universal joints at the first ends and the second ends of the 4n+1 intermediate joint arms, on the universal joint connected to the first end of the 4n+1 intermediate joint arms, the third linkage rope is wound in the first clockwise direction along the B shaft of the universal joint and is fixedly connected to the adjacent joint arm of the first end of the 4n+1 intermediate joint arms, and on the universal joint connected to the second end of the 4n+1 intermediate joint arms, the third linkage rope is wound in the second clockwise direction along the A shaft of the universal joint and is fixedly connected to the adjacent joint arm of the second end of the 4n+1 intermediate joint arms, wherein the B shaft of the universal joint connected to the first end of the 4n+1 intermediate joint arms and the A shaft of the universal joint connected to the second end of the 4n+1 intermediate joint arms are parallel to each other, and the first clockwise direction and the second clockwise direction are opposite directions of rotation; on the five adjacent joint arms, the fourth linkage rope is wound between the universal joints connected to the first ends and the second ends of the 2n+1 intermediate joint arms, on the universal joint connected to the first end of the 2n+1 intermediate joint arms, the fourth linkage rope is wound in the third clockwise direction along the A shaft of the universal joint and is fixedly connected to the universal joint, and on the universal joint connected to the second end of the 2n+1 intermediate joint arms, the fourth linkage rope is wound in the fourth clockwise direction along the B shaft of the universal joint and is fixedly connected to the universal joint, wherein the third clockwise direction and the fourth clockwise direction are opposite directions of rotation.

[0006] Further, the two ends of the joint arm are provided with rotating connecting members; the rotating connecting member at the first end of the joint arm is rotatably connected to the universal joint on the A shaft of the universal joint, and the rotating connecting member at the second end of the joint arm is rotatably connected to the universal joint on the B shaft of the universal joint, wherein the A shaft and the first swing shaft are substantially perpendicular and / or substantially parallel, and the B shaft is substantially perpendicular to the A shaft on one universal joint; on the seven adjacent joint arms, the third linkage rope is wound between the universal joints at the first ends and the second ends of the 4n+1 intermediate joint arms, on the universal joint connected to the first end of the 4n+1 intermediate joint arms, the third linkage rope is wound in the first clockwise direction along the B shaft of the universal joint and is fixedly connected to the adjacent joint arm of the first end of the 4n+1 intermediate joint arms, and on the universal joint connected to the second end of the 4n+1 intermediate joint arms, the third linkage rope is wound in the second clockwise direction along the A shaft of the universal joint and is fixedly connected to the adjacent joint arm of the second end of the 4n+1 intermediate joint arms, wherein the B shaft of the universal joint connected to the first end of the 4n+1 intermediate joint arms and the A shaft of the universal joint connected to the second end of the 4n+1 intermediate joint arms are parallel to each other, and the first clockwise direction and the second clockwise direction are opposite directions of rotation; on the five adjacent joint arms, the fourth linkage rope is wound between the universal joints connected to the first ends and the second ends of the 2n+1 intermediate joint arms, on the universal joint connected to the first end of the 2n+1 intermediate joint arms, the fourth linkage rope is wound in the third clockwise direction along the A shaft of the universal joint and is fixedly connected to the universal joint, and on the universal joint connected to the second end of the 2n+1 intermediate joint arms, the fourth linkage rope is wound in the fourth clockwise direction along the B shaft of the universal joint and is fixedly connected to the universal joint, wherein the third clockwise direction and the fourth clockwise direction are opposite directions of rotation.

[0007] Further, the first linkage structure comprises a first linkage rope connecting the two joint arms at intervals, and the first linkage rope is wound between the universal joints connected to the first end and the second end of the middle joint arm on the three adjacent joint arms, the first linkage rope is wound along the first clock direction of the B axis of the universal joint connected to the first end of the middle joint arm and is fixed to the adjacent joint arm of the first end of the middle joint arm, the first linkage rope is wound along the second clock direction of the A axis of the universal joint connected to the second end of the middle joint arm and is fixed to the adjacent joint arm of the second end of the middle joint arm, wherein the B axis of the universal joint connected to the first end of the middle joint arm and the A axis of the universal joint connected to the second end of the middle joint arm are parallel to each other; the second linkage structure comprises a second linkage rope connecting the two joint arms at intervals, and the second linkage rope is wound between the universal joints connected to the first end and the second end of the middle joint arm on the three adjacent joint arms, the second linkage rope is wound along the third clock direction of the A axis of the universal joint connected to the first end of the middle joint arm and is fixed to the universal joint, the second linkage rope is wound along the fourth clock direction of the B axis of the universal joint connected to the second end of the middle joint arm and is fixed to the universal joint.

[0008] Further, the outer periphery of the boss is further provided with a second rope winding groove, and the second linkage rope is wound in the second rope winding groove; the first rope winding groove is axially arranged on the arc-shaped frame of the first end of the universal joint along the A axis of the universal joint, and the first rope winding groove is axially arranged on the arc-shaped frame of the second end of the universal joint along the B axis of the universal joint, and the first linkage rope is wound in the first rope winding groove.

[0009] Further, the joint 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, and two rotating connectors are symmetrically connected to the disc parts of the first end and the second end of the arm rod; the first linkage rope and the third linkage rope pass through and are fixed to the first and second through holes arranged on the arm rod; the second and fourth through holes are arranged on the outer side of the two rotating connectors of the disc part respectively, the second through hole corresponds to the first rope winding groove, and the fourth through hole corresponds to the third rope winding groove, the first linkage rope wound in the first rope winding grooves of the adjacent two universal joints passes through the two second through holes opposite to the two disc parts, and the third linkage rope wound in the third rope winding grooves of the universal joints of the first end and the second end of the middle 4n+1 joint arms passes through at least the fourth through holes of the disc parts of the first end and the second end of the middle 4n+1 joint arms and the fourth through holes opposite to the two disc parts of the middle 2n+1 joint arm; the third and fifth through holes are arranged on the inner side of the two rotating connectors of the disc part, the third through hole corresponds to the second rope winding groove, and the fifth through hole corresponds to the fourth rope winding groove, the second linkage rope wound in the second rope winding grooves of the adjacent two universal joints passes through the third through hole, and the fourth linkage rope wound in the fourth rope winding grooves of the universal joints of the first end and the second end of the middle 2n+1 joint arms passes through at least the fifth through holes of the disc parts of the first end and the second end of the middle 2n+1 joint arms.

[0010] Further, the first guide rope tube is arranged between the two second through holes and the fourth through hole on the two disc parts of the joint arm, the first linkage rope wound in the first winding groove of the adjacent two universal joints is arranged in the second through hole and the first guide rope tube, the third linkage rope wound in the third winding groove of the first end and the second end universal joints of the middle 4n+1 joint arms is arranged in the fourth through hole and the first guide rope tube of the middle 2n+1 joint arm, and the fourth guide rope tube is arranged between the fifth through hole of the first end and the second end disc parts of the middle 2n+1 joint arm, and the fourth linkage rope wound in the fourth winding groove of the first end and the second end universal joints of the middle 2n+1 joint arm is arranged in the fourth guide rope tube.

[0011] Further, the end of the rotating connecting piece connected with the universal joint is provided with a rotating hole, the rotating connecting piece is provided with a fan-shaped notch on the side outside the end connected with the universal joint and facing the universal joint, the outside of the rotating connecting piece is provided with an avoiding groove, the avoiding groove corresponds to the second through hole, the avoiding groove is communicated with the fan-shaped notch, and the first linkage rope between the first winding groove and the second through hole is arranged in the avoiding groove and the fan-shaped notch; the bosses on the outside of the universal joint are all provided with shaft holes, the shaft holes of two adjacent bosses are fixedly connected with a hollow first shaft, the end of the first shaft is connected with a hollow rotating shaft, the shaft holes of the other two adjacent bosses are fixedly connected with a solid rotating shaft, the hollow rotating shaft is connected through a first bearing and the rotating hole, the solid rotating shaft is connected through a second bearing and the rotating hole, the side of the hollow rotating shaft and the solid rotating shaft facing the rotating connecting piece is provided with a fan-shaped opening communicated with the fan-shaped notch, the bottom of the opening is provided with a seventh through hole, and the first linkage rope between the avoiding groove and the fan-shaped notch is arranged in the seventh through hole; the outside of the end of the hollow rotating shaft and the solid rotating shaft is provided with an eighth through hole, the third linkage rope between the fourth through hole and the third winding groove is arranged in the eighth through hole; 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 in the universal joint and has an input shaft extending into the first shaft, and a connecting block, one end of the connecting block is fixedly connected to the input shaft, the other end of the connecting block passes through the opening of the hollow rotating shaft and is fixedly connected to the rotating connecting piece.

[0012] Further, the universal joint is provided with arc-shaped seats, the bottoms of the two arc-shaped seats are connected through mounting grooves and two end portions of the arc-shaped frame respectively, the third winding groove is arranged on the arc-shaped seat and located above the first winding groove, and the end of the arc-shaped seat close to the rotating connecting piece is provided with a guide hole, and the third linkage rope between the third winding groove and the eighth through hole is arranged in the guide hole.

[0013] Further, the boss is provided with a first adjusting hole at the end of the second winding groove, a first hollow bolt is screwed in the first adjusting hole, and the end of the second linkage rope passes through the first adjusting hole and is fixedly connected with the first hollow bolt; the end of the fourth guide rope is screwed with the fifth through hole through a pipe connector, and the outer side of the threaded part of the pipe connector is also screwed with a fourth nut; the arm segment further comprises a tether block arranged between the arm rod and the disc part, and the tether block is provided with: a second adjusting hole corresponding to the first through hole, the second adjusting hole being communicated with the first through hole; a third adjusting hole corresponding to the second through hole, the third adjusting hole being communicated with the second through hole; a second hollow bolt screwed in the second adjusting hole, the end of the first linkage rope passing through the first through hole and being fixedly connected with the second hollow bolt; and a third hollow bolt screwed in the third adjusting hole, the end of the third linkage rope passing through the second through hole and being fixedly connected with the third hollow bolt.

[0014] The present application has the following advantages:

[0015] The present application provides a rope-driven segmented linkage flexible mechanical arm with multiple linkage constraints, first linkage ropes and second linkage ropes are arranged between every three joint arms of an operating arm arm segment in a staggered manner, so as to drive and limit every two joint arms at intervals to rotate at equal angles in opposite directions along a first swing axis or a second swing axis of the arm segment, to realize a basic linkage function, that is, to substantially realize the effect that all adjacent joint arms in the arm segment achieve equal angle linkage. In order to reduce the linkage angle error between multiple joint arms and improve the rigidity of the linkage arm segment, third linkage ropes and fourth linkage ropes are reasonably and arbitrarily arranged according to rules, the linkage constraints between multiple joint arms in the arm segment are increased, high-precision and large-angle movement of the arm segment in two degrees of freedom is realized, and an angle sensing device for measuring two axial rotation angles in the universal joint is matched, so that the rotation angles of the adjacent two joint arms connected by the universal joint can be sensed and calculated in real time, and the control precision of the mechanical arm by the operator can be improved. BRIEF DESCRIPTION OF DRAWINGS

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

[0017] Figure 2 It is a partial structure schematic diagram of a part of an arm segment of an operating arm according to the embodiment of the present application.

[0018] Figure 3 It is another angle of a partial structure schematic diagram of a part of an arm segment of an operating arm according to the embodiment of the present application.

[0019] Figure 4 It is Figure 1 It is an enlarged view of A in FIG. 8.

[0020] Figure 5 It is Figure 1 It is an enlarged view of B in FIG. 8.

[0021] Figure 6is Figure 1 Enlarged view at C.

[0022] Figure 7 is a structural schematic of an arc-shaped seat according to an embodiment of the present application.

[0023] Figure 8 is a further angle partial structural schematic view of an operating arm partial arm segment according to an embodiment of the present application.

[0024] Figure 9 is an exploded schematic view of a joint in an arm segment and two adjacent joint arms according to an embodiment of the present application.

[0025] Figure 10 is Figure 2 Cross-sectional view at D-D.

[0026] Figure 11 is a partial structural cross-sectional view of one angle of a joint according to an embodiment of the present application.

[0027] Figure 12 is a partial structural cross-sectional view of another angle of a joint according to an embodiment of the present application.

[0028] Figure 13 is a top view of a joint arm according to an embodiment of the present application.

[0029] Figure 14 is a longitudinal sectional view of a joint arm according to an embodiment of the present application.

[0030] Figure 15 is a structural schematic view of a hollow rotating shaft according to an embodiment of the present application.

[0031] Figure 16 is a structural schematic view of a solid rotating shaft according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] The concept, specific structure and generated technical effects of the present application will be described clearly and completely in combination with embodiments and drawings below, so as to fully understand the purpose, scheme and effects of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0033] 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.

[0034] Furthermore, 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 terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0035] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from one another. For example, without departing from the scope of this disclosure, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0036] Reference Figures 1 to 6In some embodiments, a rope-driven segmented linkage flexible manipulator with multiple linkage constraints according to the present application comprises an operating arm driven by a driving device, the driving device comprising a driving box fixed to a first end of the operating arm through an operating arm mounting frame 2000, the operating arm comprising a plurality of sequentially connected arm segments 1000, each arm segment 1000 being driven by at least three driving ropes pulled by the driving device to bend each arm segment 1000 respectively; each arm segment 1000 comprising: seven or more joint arms 1100; a universal joint 1200 connecting two adjacent joint arms 1100; a first linkage structure defining equal angle rotation of every two joint arms 1100 in the middle of a joint arm 1100 along a first swing axis and / or a second swing axis of the arm segment 1000 in opposite directions; a second linkage structure defining equal angle rotation of every two joint arms 1100 in the middle of a joint arm 1100 along two opposite directions perpendicular to the rotation direction defined by the first linkage structure; a third linkage rope 1400 connecting every 4n+1 joint arms 1100, the third linkage rope 1400 defining equal angle rotation of every two joint arms 1100 in the middle of 4n+1 joint arms 1100 along two rotation directions defined by the first linkage structure; a fourth linkage rope 1700 connecting every 2n+1 joint arms 1100, the fourth linkage rope 1700 defining equal angle rotation of every two joint arms 1100 in the middle of 2n+1 joint arms 1100 along two rotation directions defined by the second linkage structure; wherein the first swing axis is substantially perpendicular to the second swing axis. The first linkage structure and the second linkage structure are staggered between every three joint arms 1100 of the operating arm arm segment 1000 to drive and define equal angle rotation of every two joint arms 1100 in opposite directions along the first swing axis (i.e. the swing axis of the operating arm pitch direction) or the second swing axis (i.e. the swing axis of the operating arm yaw direction) of the arm segment 1000, realizing the basic linkage function, i.e. achieving the effect of equal angle linkage of all adjacent joint arms 1100 in the arm segment 1000. In order to reduce the linkage angle error between multiple joint arms 1100 and improve the stiffness of the linkage arm segment 1000, the third linkage rope 1400 and the fourth linkage rope 1700 are arranged in the arm segment 1000 according to rules, increasing the linkage constraints of the first swing axis direction and the second swing axis direction between multiple joint arms 1100 in the arm segment 1000, realizing high precision and large angle movement of the arm segment 1000 in two degrees of freedom, and facilitating the control precision of the manipulator.

[0037] Referring to Figure 2 , Figure 3 and Figure 9The two ends of the articulated arm 1100 are provided with rotary connecting members 1130; the rotary connecting member 1130 at the first end of the articulated arm 1100 is rotatably connected to the gimbal 1200 on the A shaft of the gimbal 1200, and the rotary connecting member 1130 at the second end of the articulated arm 1100 is rotatably connected to the gimbal 1200 on the B shaft of the gimbal 1200, wherein the A shaft and the first swing shaft are substantially perpendicular and / or substantially parallel, and the B shaft is substantially perpendicular to the A shaft on the gimbal 1200;

[0038] With reference to Figure 2 and Figure 3 The first linkage structure includes a first linkage rope 1500 connecting the two articulated arms 1100, and the first linkage rope 1500 is wound between the gimbals 1200 connected to the first end and the second end of the middle articulated arm 1100 on the three adjacent articulated arms 1100 in the arm segment 1000, the first linkage rope 1500 is wound in the first clockwise direction along the B shaft of the gimbal 1200 connected to the first end of the middle articulated arm 1100 and is fixedly connected to the adjacent articulated arm 1100 of the first end of the middle articulated arm 1100, and the first linkage rope 1500 is wound in the second clockwise direction along the A shaft of the gimbal 1200 connected to the second end of the middle articulated arm 1100 and is fixedly connected to the adjacent articulated arm 1100 of the second end of the middle articulated arm 1100, wherein the B shaft of the gimbal 1200 connected to the first end of the middle articulated arm 1100 and the A shaft of the gimbal 1200 connected to the second end of the middle articulated arm 1100 are parallel to each other;

[0039] Specifically, on the three adjacent joint arms 1100, the rotary connector 1130 of the first end of the middle joint arm 1100 is connected to the A-axis of the universal joint 1200 and the universal joint 1200, and the first linkage rope 1500 is passed through the universal joint 1200 along the first clockwise direction of the B-axis of the universal joint 1200, the rotary connector 1130 of the second end of the middle joint arm 1100 is connected to the B-axis of the universal joint 1200 and the universal joint 1200, and the first linkage rope 1500 is passed through the universal joint 1200 along the second 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 first linkage rope 1500, resulting in that if the first linkage rope 1500 is fixed on the above two universal joints 1200, the two joint arms 1100 spaced on both sides of the middle joint arm 1100 cannot realize reverse equal-angle linkage rotation, therefore, after the first linkage rope 1500 is passed 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 first 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 rotates along the second clockwise direction around the universal joint 1200 at the second end of the middle joint arm 1100 by pulling the first linkage rope 1500, 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 first clockwise direction or the second clockwise direction of the first swing axis of the arm segment 1000 in 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 of the specification.

[0041] The second linkage structure includes a second linkage rope 1600 connecting the two spaced joint arms 1100, and on the three adjacent joint arms 1100, the second linkage rope 1600 is wound between the universal joints 1200 connected to the first end and 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 along the third clockwise direction of the A-axis of the universal joint 1200 and is fixed with the universal joint 1200, and on the universal joint 1200 connected to the second end of the middle joint arm 1100, the second linkage rope 1600 is wound along the fourth clockwise direction of the B-axis of the universal joint 1200 and is fixed with the universal joint 1200.

[0042] Specifically, on the three adjacent joint arms 1100, the second linkage rope 1600 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 at the second end, the second linkage rope 1600 passing through the universal joint 1200 in the third clockwise direction of the B-axis of the universal joint 1200 increases or decreases, thereby pulling the second linkage rope 1600 wound on the universal joint 1200A-axis of the first end of the middle joint arm 1100 in the fourth clockwise direction. By synchronously controlling the decrease or increase of the second linkage rope 1600 wound on the universal joint 1200 in the fourth clockwise direction of the A-axis, the universal joint 1200 is rotated around the first end of the middle joint arm 1100 in the fourth clockwise direction of the A-axis of the universal joint 1200 (i.e., in the opposite direction of the third clockwise direction of the B-axis of the universal joint 1200 around 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 realizing the reverse equal-angle linkage of the two ends of the joint arm 1100 around the second swing axis of the arm segment 1000 in the third clockwise direction or the fourth clockwise direction of the middle joint arm 1100.

[0043] In addition, in the extension direction of the arm segment 1000, in three adjacent joint arms 1100 progressing by one joint arm 1100, the included angle between the winding directions 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 directions 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 reverse equal-angle linkage of the first swing axis in the first clockwise direction or the second clockwise direction through the first linkage rope 1500, and after progressing by one joint arm 1100, the last three adjacent joint arms 1100 realize the reverse equal-angle linkage of the first swing axis in the first clockwise direction or the second clockwise direction through the second linkage rope 1600; similarly, the first three adjacent joint arms 1100 realize the reverse equal-angle linkage of the second swing axis in the third clockwise direction or the fourth clockwise direction through the first linkage rope 1500, and after progressing by one joint arm 1100, the last three adjacent joint arms 1100 realize the reverse equal-angle linkage of the second swing axis in the third clockwise direction or the fourth clockwise direction through the second linkage rope 1600, thereby realizing 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] Referring to Figure 1 , Figure 4 、 Figure 5 、 Figure 6 and Figure 8 In the arm segment 1000, the third linkage rope 1400 is wound between the universal joints 1200 connected to the first ends of the middle 4n+1 (n is a positive integer, n is 1 when the arm segment 1000 has 7 joint arms 1100) joint arms 1100, and the universal joints 1200 connected to the second ends of the middle 4n+1 joint arms 1100, the third linkage rope 1400 is wound along the first clockwise direction of the B axis of the universal joint 1200 connected to the first end of the middle 4n+1 joint arms 1100 and is fixed to the adjacent joint arm 1100 of the first end of the middle 4n+1 joint arms 1100, and the third linkage rope 1400 is wound along the second clockwise direction of the A axis of the universal joint 1200 connected to the second end of the middle 4n+1 joint arms 1100 and is fixed to the adjacent joint arm 1100 of the second end of the middle 4n+1 joint arms 1100, wherein the B axis of the universal joint 1200 connected to the first end of the middle 4n+1 joint arms 1100 and the A axis of the universal joint 1200 connected to the second end of the middle 4n+1 joint arms 1100 are parallel to each other, and the first clockwise direction and the second clockwise direction are opposite directions;

[0045] Specifically, on the seven adjacent joint arms 1100, since the rotary joint 1130 at the first end of the second joint arm 1100 is connected to the gimbal 1200 at the A-axis of the gimbal 1200, and the third linkage rope 1400 passes through the gimbal 1200 along the first clock direction of the B-axis of the gimbal 1200, the rotary joint 1130 at the second end of the middle 4n+1 joint arms 1100 is connected to the gimbal 1200 at the B-axis of the gimbal 1200, and the third linkage rope 1400 passes through the gimbal 1200 along the second clock direction of the A-axis of the gimbal 1200, the rotation between the above two gimbals 1200 and the middle 4n+1 joint arms 1100 cannot pull the third linkage rope 1400, resulting in that if the third linkage rope 1400 is fixed on the above two gimbals 1200, the reverse equal-angle linkage rotation between the first end and the second end of the middle 4n+1 joint arms 1100 cannot be achieved. Therefore, after the third linkage rope 1400 passes through the gimbals 1200 at the two ends of the middle 4n+1 joint arms 1100, the third linkage rope 1400 is fixed with the first end and the second end of the middle 4n+1 joint arms 1100 (i.e., the first joint arm 1100 and the 4n+3 joint arm 1100) respectively, so as to realize that when the first joint arm 1100 rotates along the first clock direction around the gimbal 1200 at the first end of the middle 4n+1 joint arms 1100, the 4n+3 joint arm 1100 rotates along the second clock direction around the gimbal 1200 at the second end of the middle 4n+1 joint arms 1100 by pulling the third linkage rope 1400, wherein the two ends of the third linkage rope 1400 pass through the two gimbals 1200 with the same size arc surface, and the middle passes through a path with constant length, so as to ensure that the same length change of the rope on both sides results in the same angle change, i.e., when the middle 4n+1 joint arms 1100 are taken as a reference, the first joint arm 1100 and the 4n+3 joint arm 1100 can simultaneously perform reverse equal-angle linkage in the first clock direction or the second clock direction of the first swing axis of the arm segment 1000.

[0046] In addition, with reference to Figure 1In the preferred embodiment of the present application, in the extension direction of the arm segment 1000, when there are eight joint arms 1100 in the arm segment 1000, among the seven joint arms 1100 that are progressively arranged in units of single joint arms 1100, the included angle between the winding directions of the third linkage ropes 1400 in the third adjacent joint arms 1100 among the first seven adjacent joint arms 1100 and the third linkage ropes 1400 in the third adjacent joint arms 1100 among the last seven adjacent joint arms 1100 is 90 degrees, and the included angle between the winding directions of the fourth linkage ropes 1700 in the fourth adjacent joint arms 1100 among the first five adjacent joint arms 1100 and the fourth linkage ropes 1700 in the fourth adjacent joint arms 1100 among the last five adjacent joint arms 1100 is 90 degrees. That is, the first joint arm 1100 and the seventh joint arm 1100 among the first seven adjacent joint arms 1100 are reversely and equally angularly linked through the third linkage ropes 1400 in the first or second clockwise direction of the first swing axis, and after one joint arm 1100 is progressively arranged, the last seven adjacent joint arms 1100 are reversely and equally angularly linked through the first linkage ropes 1500 in the third or fourth clockwise direction of the second swing axis; similarly, the first five adjacent joint arms 1100 are reversely and equally angularly linked through the fourth linkage ropes 1700 in the third or fourth clockwise direction of the second swing axis, and after one joint arm 1100 is progressively arranged, the last five adjacent joint arms 1100 are reversely and equally angularly linked through the fourth linkage ropes 1700 in the first or second clockwise direction of the first swing axis, so as to achieve the equal-angle linkage constraint effect of the two joint arms 1100 that are spaced apart by multiple joint arms 1100 in the arm segment 1000.

[0047] With reference to Figure 8 On the adjacent five joint arms 1100, the fourth linkage rope 1700 is wound between the universal joints 1200 connected to the first ends and the second ends of the middle 2n+1 (n is a positive integer, when there are seven joint arms 1100 in the arm segment 1000, n is 1) joint arms 1100, on the universal joint 1200 connected to the first end of the middle 2n+1 joint arms 1100, the fourth linkage rope 1700 is wound in the third clockwise direction of the A-axis of the universal joint 1200 and is fixedly connected to the universal joint 1200, and on the universal joint 1200 connected to the second end of the middle 2n+1 joint arms 1100, the fourth linkage rope 1700 is wound in the fourth clockwise direction of the B-axis of the universal joint 1200 and is fixedly connected to the universal joint 1200, wherein the third clockwise direction and the fourth clockwise direction are opposite rotation directions.

[0048] Specifically, on the adjacent five joint arms 1100, the fourth linkage rope 1700 is wound on two universal joints 1200 connecting the first end and the second end of the middle 2n+1 (n=1, 2, 3…) joint arms 1100, when the middle 2n+1 joint arms 1100 rotate around the B axis of the universal joint 1200 at the second end, the fourth linkage rope 1700 wound around the universal joint 1200 along the third clockwise direction of the B axis of the universal joint 1200 increases or decreases, thereby pulling the fourth linkage rope 1700 wound in the fourth clockwise direction along the A axis of the universal joint 1200 at the first end of the middle 2n+1 joint arms 1100, through synchronous control to reduce or increase the fourth linkage rope 1700 wound on the universal joint 1200 in the fourth clockwise direction of the A axis, so that the universal joint 1200 rotates around the universal joint 1200 at the first end of the middle 2n+1 joint arms 1100 in the fourth clockwise direction of the A axis of the universal joint 1200 (i.e. opposite to the third clockwise direction of the B axis of the universal joint 1200 at the second end of the middle 2n+1 joint arms 1100), thereby driving the first end joint arm 1100 to rotate with the universal joint 1200, wherein the two universal joints 1200 wound by the fourth linkage rope 1700 at both ends have the same winding radius, and the fourth linkage rope 1700 in the rope passes through the fourth guide rope hose 1820 with constant length, thereby ensuring that the same length change of the fourth linkage rope 1700 on both sides realizes the same angle change, and in the middle 2n+1 joint arms 1100 as a reference, the first joint arm 1100 and the 2n+3 joint arm 1100 at the first end and the second end thereof can simultaneously rotate around the middle joint arm 1100 in the third clockwise direction or the fourth clockwise direction of the second swing axis of the arm segment 1000 with the same angle linkage in the opposite direction.

[0049] Referring to Figures 9 to 12The outer side of the universal joint 1200 is provided with four mutually perpendicular mounting surfaces 1210 at the two ends of the A axis and the B axis, and the mounting surfaces 1210 are provided with bosses 1250, wherein the two bosses 1250 opposite the two ends of the A axis and the two bosses 1250 opposite the two ends of the B axis are respectively rotatably connected with the rotating connecting pieces 1130 of the two adjacent joint arms 1100; the outer periphery of the boss 1250 is provided with a fourth rope winding groove 1254, and the fourth linkage rope 1700 is wound in the fourth rope winding groove 1254; the outer periphery of the boss 1250 is also provided with a second rope winding groove 1251, and the second linkage rope 1600 is wound in the second rope winding groove 1251, and the second rope winding groove 1251 is arranged side by side on the outer side of the fourth rope winding groove 1254; the universal joint 1200 is provided with an arc-shaped frame 1260 near the first end and the second end of the joint arm 1100, and the arc-shaped frame 1260 on the first end of the universal joint 1200 is provided with a third rope winding groove 1271 in the axial direction of the A axis of the universal joint 1200, and the arc-shaped frame 1260 on the second end of the universal joint 1200 is provided with a third rope winding groove 1271 in the axial direction of the B axis of the universal joint 1200, and the third linkage rope 1400 is wound in the third rope winding groove 1271; the arc-shaped frame 1260 on the first end of the universal joint 1200 is provided with a first rope winding groove 1261 in the axial direction of the A axis of the universal joint 1200, and the arc-shaped frame 1260 on the second end of the universal joint 1200 is provided with a first rope winding groove 1261 in the axial direction of the B axis of the universal joint 1200, and the first linkage rope 1500 is wound in the first rope winding groove 1261.

[0050] Specifically, the second winding grooves 1251 of the adjacent two knuckle bosses 1250 of the first end rotating connection 1130 and the second end rotating connection 1130 of the articulated arm 1100 are parallel and corresponding to realize the second linkage rope 1600 wound or unwound on the adjacent two knuckles 1200 at a fixed angle, avoiding the change of the winding angle of the second linkage rope 1600 on the knuckle 1200 to cause the adjacent two knuckles 1200 to be unable to accurately reverse the equal-angle linkage. The fourth winding grooves 1254 of the two knuckle bosses 1250 of the first end and the second end rotating connection 1130 of the 2n+1 articulated arms 1100 are parallel and corresponding to realize the second linkage rope 1600 wound or unwound on the two knuckles 1200 of the first end and the second end of the 2n+1 articulated arms 1100 at a fixed angle, avoiding the change of the winding angle of the fourth linkage rope 1700 on the knuckle 1200 to affect the reverse linkage constraint of the articulated arms 1100 at both ends of the fourth linkage rope 1700. The arc-shaped frame 1260 arranged near the first end and the second end of the knuckle 1200 allows the first linkage rope 1500 and the third linkage rope 1400 to pass through the knuckle 1200 at a uniform speed and amount, and the first winding groove 1261 and the third winding groove 1271 arranged on the arc-shaped frame 1260 at the first end of the knuckle 1200 along the A-axis of the knuckle 1200 and at the second end of the knuckle 1200 along the B-axis of the knuckle 1200, avoiding the first linkage rope 1500 and the third linkage rope 1400 from creeping and shifting during the process of passing through the arc-shaped frame 1260, which causes the inability to accurately reverse the equal-angle linkage constraint.

[0051] In addition, the first linkage rope 1500 is provided with two, one end of the two first linkage ropes 1500 on the knuckle 1200 connected by the first end rotating connection 1130 of the middle articulated arm 1100, respectively winding around the first winding groove 1261 of the arc-shaped frame 1260 on the first end of the knuckle 1200 along the opposite rotation direction of the B-axis of the knuckle 1200 and being fixedly connected with the articulated arm 1100 at the first end of the middle articulated arm 1100, the other end of the two first linkage ropes 1500 on the knuckle 1200 connected by the second end rotating connection 1130 of the middle articulated arm 1100, respectively winding around the first winding groove 1261 of the arc-shaped frame 1260 on the second end of the knuckle 1200 along the opposite rotation direction of the A-axis of the knuckle 1200 and being fixedly connected with the articulated arm 1100 at the second end of the middle articulated arm 1100.

[0052] The second linkage rope 1600 is provided with two ropes, one end of the two second linkage ropes 1600 is respectively wound on the first winding groove 1261 of the two bosses 1250 in the opposite rotation direction of the A-axis of the universal joint 1200, and is fixedly connected to the bosses 1250, on the universal joint 1200 connected to the first end rotating connecting piece 1130 of the middle joint arm 1100, the other end of the two first linkage ropes 1500 is respectively wound on the first winding groove 1261 of the two bosses 1250 in the opposite rotation direction of the B-axis of the universal joint 1200, and is fixedly connected to the bosses 1250, on the universal joint 1200 connected to the second end rotating connecting piece 1130 of the middle joint arm 1100.

[0053] The third linkage rope 1400 is provided with two ropes, one end of the two third linkage ropes 1400 is respectively wound around the third winding groove 1271 of the arc-shaped frame 1260 in the opposite rotation direction of the B-axis of the universal joint 1200 on the first end of the universal joint 1200 of the middle 4n+1 joint arms 1100, and is fixedly connected to the joint arm 1100 on the first end of the middle 4n+1 joint arms 1100, the other end of the two third linkage ropes 1400 is respectively wound around the third winding groove 1271 of the arc-shaped frame 1260 in the opposite rotation direction of the A-axis of the universal joint 1200 on the second end of the universal joint 1200 of the middle 4n+1 joint arms 1100, and is fixedly connected to the joint arm 1100 on the second end of the middle 4n+1 joint arms 1100.

[0054] The fourth linkage rope 1700 is provided with two ropes, one end of the two fourth linkage ropes 1700 is wound on the same boss 1250 in the opposite rotation direction of the A-axis of the universal joint 1200, and is fixedly connected to the universal joint 1200, on the universal joint 1200 connected to the first end of the middle 2n+1 joint arms 1100, the other end of the two fourth linkage ropes 1700 is wound on the same boss 1250 in the opposite rotation direction of the B-axis of the universal joint 1200, and is fixedly connected to the universal joint 1200.

[0055] Referring to Figure 9 , Figure 10 , Figure 13 and Figure 14The joint arm 1100 comprises an arm rod 1110 with a cavity 1111 and disc parts 1120 connected to the first end and the second end of the arm rod 1110 respectively, and two rotating connectors 1130 are symmetrically connected to the disc parts 1120 at the first end and the second end of the arm rod 1110; the arm rod 1110 is provided with a first through hole 1112 and a second through hole 1113 for the first linkage rope 1500 and the third linkage rope 1400 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 to pass through or be connected; the first through hole 1121 can effectively fix the driving rope connected to the first through hole 1121 at the end and ensure the smoothness of the movement of the driving rope passing through the first through hole 1121, and the driving rope is connected with the driving box after passing through the arm segment 1000 close to the end of the driving box, and in the example of the application, the triangle formed by the passing and fixing positions of the three driving ropes driving each arm segment 1000 is an equilateral triangle, two of which are used for azimuth control, and one is used for force control. The disc part 1120 is provided with a second through hole 1122 and a fourth through hole 1124 outside the two rotating connectors 1130, the second through hole 1122 corresponds to the first winding rope groove 1261, and the fourth through hole 1124 corresponds to the third winding rope groove 1271, the first linkage rope 1500 wound in the first winding rope groove 1261 of the adjacent two universal joints 1200 passes through the two second through holes 1122 opposite to the two disc parts 1120, and the third linkage rope 1400 wound in the third winding rope groove 1271 of the middle 4n+1 joint arms 1100 at the first end and the second end of the universal joint 1200 passes through at least the fourth through hole 1124 of the disc part 1120 at the first end and the second end of the joint arm 1100 and the fourth through hole 1124 opposite to the two disc parts 1120 of the middle 2n+1 joint arms 1100; back to Figure 2 and Figure 5In one articulated arm 1100, a first guide hose 1810 is provided intersecting between two opposing second through holes 1122 and fourth through holes 1124 on two disc portions 1120. A first linkage rope 1500, wound in the first rope groove 1261 of two adjacent universal joints 1200, passes through the second through hole 1122 and the first guide hose 1810. A third linkage rope 1400, wound in the third rope groove 1271 of the first and second end universal joints 1200 of the middle 4n+1 articulated arms 1100, passes through the fourth through hole 1124 and the first guide hose 1810 of the middle 2n+1 articulated arm 1100. The articulated arms 1100 between the first articulated arm 1100 and the 2n+1th articulated arm 1100, and The joint arm 1100 between the 2n+2nd and the second end joint arm 1100 has a sixth through hole 1126 at the position corresponding to the fourth through hole 1124. The sixth through hole 1126 is an elongated hole opened along the axial direction of the disc portion 1120. Specifically, the cross-arranged first rope hose allows the first linkage rope 1500 and the third linkage rope 1400 to pass through the second through hole 1122 and the fourth through hole 1124, which are 180 degrees opposite to each other, and then wrap around the arm 1110 in an S-shape. This improves smoothness and avoids wear on the first linkage rope 1500 and the third linkage rope 1400. It also keeps the length of the first linkage rope 1500 and the third linkage rope 1400 between the two disc portions 1120 unchanged.

[0056] In addition, the two ends of the first guide rope hose 1810 are connected by the first fixing member 1811 and the disc 1120, respectively.

[0057] Reference Figure 13 and Figure 14 The disc portion 1120 has a third through hole 1123 and a fifth through hole 1125 on the inner side of the two rotating connectors 1130. The third through hole 1123 corresponds to the second rope groove 1251, and the fifth through hole 1125 corresponds to the fourth rope groove 1254. The second linkage rope 1600, which is wound in the second rope groove 1251 of the two adjacent universal joints 1200, passes through the third through hole 1123. The fourth linkage rope 1700, which is wound in the fourth rope groove 1254 of the first and second end universal joints 1200 of the middle 2n+1 joint arms 1100, passes through at least the fifth through hole 1125 of the disc portion 1120 of the first and second end of the middle 2n+1 joint arms 1100. Figure 8In the middle 2n+1 jointed arms 1100, two fourth guide rope soft tubes 1820 are arranged between the fifth through holes 1125 of the first end and the second end disc parts 1120, and pass through the cavities 1111 of the arm rods 1110 and the gaps of the universal joints 1200, and the fourth linkage ropes 1700 wound in the fourth winding grooves 1254 of the first end and the second end universal joints 1200 of the middle 2n+1 jointed arms 1100 are arranged in the fourth guide rope soft tubes 1820. Specifically, the cross-arranged fourth guide rope soft tubes can make the fourth linkage ropes 1700 pass through the fifth through holes 1125 of the first end and the second end disc parts 1120 of the middle 2n+1 jointed arms 1100 in opposite directions by 180 degrees, avoid the collision and interference between the fourth linkage ropes 1700 and the jointed arms 1100 and the universal joints 1200, realize the normal transmission of movement, improve the smoothness, and avoid the abrasion of the fourth linkage ropes 1700, and on the other hand, keep the length of the fourth linkage ropes 1700 between the first end and the second end disc parts 1120 of the middle 2n+1 jointed arms 1100 unchanged.

[0058] In addition, the two ends of the fourth guide rope soft tube 1820 are connected with the disc part 1120 through the fourth fixing member 1823 respectively.

[0059] Referring to Figures 9 to 14The end of the rotating connecting piece 1130 connected with the universal joint 1200 is provided with a rotating hole 1131. The rotating connecting piece 1130 is provided with a fan-shaped notch 1134 towards the universal joint 1200 outside the end connected with the universal joint 1200. The outside of the rotating connecting piece 1130 is provided with an avoiding slot 1133 corresponding to the second through hole 1122, and the avoiding slot 1133 is communicated with the fan-shaped notch 1134. The first linkage rope 1500 between the first rope winding slot 1261 and the second through hole 1122 is arranged in the avoiding slot 1133 and the fan-shaped notch 1134. The avoiding slot 1133 allows the first linkage rope 1500 to be arranged in it. The fan-shaped notch 1134 can keep the first linkage rope 1500 between the avoiding slot 1133 and the first rope winding slot 1261 from being bent around the A-axis and B-axis of the universal joint 1200, effectively avoiding the displacement of the first linkage rope 1500 outside the rotating connecting piece 1130 when it is pulled, which affects the reverse synchronous linkage accuracy of the adjacent joint arms 1100. The bosses 1250 outside the universal joint 1200 are each provided with an axle hole 1230. The axle holes 1230 of two adjacent bosses 1250 are fixedly connected with a hollow first rotating shaft 1340. The end of the first rotating shaft 1340 is connected with a hollow rotating shaft 1370. The axle holes 1230 of the other two adjacent bosses 1250 are fixedly connected with a solid rotating shaft 1360. The hollow rotating shaft 1370 is connected through a first bearing 1350 and the rotating hole 1131. The solid rotating shaft 1360 is connected through a second bearing 1380 and the rotating hole 1131, so as to realize smooth rotation of the universal joint 1200 and the adjacent two joint arms 1100.

[0060] Referring to Figure 9 , Figure 10 , Figure 15 and Figure 16 , the side of the hollow rotating shaft 1370 and the solid rotating shaft 1360 towards the rotating connecting piece 1130 is provided with a fan-shaped opening 1363 communicated with the fan-shaped notch 1134. The bottom of the opening 1363 is provided with a seventh through hole 1361. The first linkage rope 1500 between the avoiding slot 1133 and the fan-shaped notch 1134 is arranged in the seventh through hole 1361. The end outside of the hollow rotating shaft 1370 and the solid rotating shaft 1360 is provided with a flat part parallel to the disc part 1120. The flat part is provided with an eighth through hole 1362. The third linkage rope 1400 between the fourth through hole 1124 and the third rope winding slot 1271 is arranged in the eighth through hole 1362. Referring to Figure 4 , Figure 6 and Figure 7The universal joint 1200 is further provided with two arc-shaped seats 1270, the bottoms of the two arc-shaped seats 1270 are connected through the installation slot 1273 and the two ends of the arc-shaped frame 1260 respectively, the third winding rope slot 1271 is arranged on the arc-shaped seat 1270 and is located above the first winding rope slot 1261, the arc-shaped seat 1270 is provided with a guide hole 1272 at one end close to the rotating connecting piece 1130, and the third linkage rope 1400 between the third winding rope slot 1271 and the eighth through hole 1362 is arranged in the guide hole 1272. Through the fan-shaped opening 1363 and the flat part, the first linkage rope 1500 and the third linkage rope 1400 are bent at the shaft center of the universal joint 1200A shaft or B shaft, and the separated and overlapping bottom gas through hole and the eighth through hole 1362 and the separated and overlapping first winding rope slot 1261 and the second winding rope slot 1251 can separate the first linkage rope 1500 and the third linkage rope 1400, so as to avoid the mutual interference of the first linkage rope 1500 and the third linkage rope 1400 when being pulled, thereby affecting the precision of the reverse linkage constraint.

[0061] Referring to Figures 9 to 12 The universal joint 1200 is hollow, and 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, one end of the connecting block 1330 is fixedly connected to the input shaft 1320, the other end passes through the opening 1363 of the hollow rotating shaft 1370 and is fixedly connected to the rotating connecting piece 1130, and the rotating connecting piece 1130 corresponding to the connecting block 1330 is further provided with a groove 1135 for fixedly connecting the other end of the connecting block 1330.

[0062] Specifically, the two angle sensing devices 1300 can respectively perceive and calculate the rotation angles of the two adjacent joint arms 1100 with the universal joint 1200A shaft and B shaft, and the rotation angle is defined as the relative rotation angle between the joint arm 1100 connected by the input shaft 1320 and the universal joint 1200.

[0063] In addition, along the extension direction of the arm segment 1000, 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 progressive universal joint 1200, so as to maintain the overall balance of the joint arm 1100.

[0064] In order to facilitate the adjustment of the tension of the first linkage rope 1500, the second linkage rope 1600, the third linkage rope 1400 and the fourth linkage rope 1700, the boss 1250 is provided with a first adjusting hole 1252 at the end of the second winding groove 1251, a first hollow bolt 1255 is screwed in the first adjusting hole 1252, one end of the second linkage rope 1600 passes through the first adjusting hole 1252 and is fixedly connected with the first hollow bolt 1255, the other end of the second linkage rope 1600 is fixedly connected with the first fixing connector 1256 and the boss 1250, and the initial tension value of the second linkage rope 1600 during winding can be changed by adjusting the screwing degree of the first hollow bolt and the first adjusting hole 1252; the end of the fourth rope guide hose 1820 is screwed with the fourth fixing member 1823 through a pipe connector 1821, the pipe connector 1821 and the fifth through hole 1125 are communicated, and a fourth nut 1822 is also screwed on the outer side of the threaded part of the pipe connector 1821, the initial tension value of the fourth linkage rope 1700 during winding can be changed by adjusting the screwing degree of the pipe connector 1821 and the fourth fixing member 1823, and the fourth nut 1822 can lock the pipe connector 1821 in cooperation with the surface of the fourth fixing member 1823, so as to avoid the loosening of the pipe connector 1821 and the influence on the tension of the fourth linkage rope 1700; the arm segment 1000 further comprises a tether block 1900 arranged between the arm rod 1110 and the disc part 1120, the tether block 1900 is provided with: a second adjusting hole 1920 corresponding to the first through hole 1112, the second adjusting hole 1920 is communicated with the first through hole 1112; a third adjusting hole 1940 corresponding to the second through hole 1113, the third adjusting hole 1940 is communicated with the second through hole 1113; a second hollow bolt 1930 screwed in the second adjusting hole 1920, the end of the first linkage rope 1500 passes through the first through hole 1112 and is fixedly connected with the second hollow bolt 1930, and the initial tension value of the first linkage rope 1500 during winding can be changed by adjusting the screwing degree of the second hollow bolt and the second adjusting hole 1920; a third hollow bolt 1950 screwed in the third adjusting hole 1940, the end of the third linkage rope 1400 passes through the second through hole 1113 and is fixedly connected with the third hollow bolt 1950, and the initial tension value of the third linkage rope 1400 during winding can be changed by adjusting the screwing degree of the third hollow bolt and the third adjusting hole 1940.

[0065] In addition, the position of the tether block 1900 corresponding to the first through hole 1112 is further provided with a reinforcing seat 1910, and the second adjusting hole 1920 is arranged on the reinforcing seat 1910.

[0066] It should be noted that the bottom of the tether block 1900 fastening the end of the third linkage rope 1400 passes through the second through hole 1113 and extends to the outer arc surface of the arc-shaped seat 1270, and the bottom of the tether block 1900 is formed with an inner concave arc surface matched with the outer arc surface of the arc-shaped seat 1270, so as to directly guide the third linkage rope 1400.

[0067] For ease of explanation, the first swing axes containing the pitch angles of all universal joints 1200 are named I1, I2, I3... in order from the first end to the second end of the boom segment 1000. The second swing axes containing the yaw angles of all universal joints 1200 are named J1, J2, J3... in order from the first end to the second end of the boom segment 1000. The center of the universal joint 1200 containing I1 and J1 is named O1, the center of the universal joint 1200 containing I2 and J2 is named O2, and so on.

[0068] The following are some ways to set up the path that ensures the length of the linkage rope remains constant:

[0069] Path 1: The fourth linkage rope 1700 is directly transmitted through the fourth guide rope hose 1820. The fourth guide rope hose 1820 passes through the inside of the arm segment 1000 to ensure that the rope does not collide or interfere with the articulated arm 1100 and the universal joint 1200, so as to achieve normal motion transmission.

[0070] Path 2, in the pitch direction, causes the third linkage rope 1400 to pass sequentially through shafts J1, J2…J 4n+2 One of the 1400 ropes of the third linkage rope passes through shafts J1, J2...J 2n+1 Position distance from axes J1, J2…J 2n+1 The universal joint 1200 is located at center O1, O2, O 2n+1 The distance is r, and one of the third linkage ropes 1400 passes through axis J. 2n+2 J 2n+3 …J 4n+2 Position distance from axis J 2n+2 J 2n+3 …J 4n+2 The center of the universal joint 1200 is O 2n+2 O 2n+3 …O 4n+2 The distance is r. Using the first guide rope hose 1810, one of the third linkage ropes 1400 is connected at the 2n+2nd joint arm 1100 by J. 2n+1 On-axis distance O 2n+1 Guide the position of r to J 2n+2 On-axis distance O 2n+2 The position is r. Another third linkage rope 1400, symmetrical to one of the third linkage ropes 1400, passes through axes J1, J2…J. 2n+1 Position distance from axes J1, J2…J 2n+1 The universal joint 1200 is located at center O1, O2, O 2n+1 The distance is r, and another rope in the third linkage rope 1400 passes through axis J. 2n+2 J 2n+3 …J 4n+2Position distance from axis J 2n+2 J 2n+3 …J 4n+2 The center of the universal joint 1200 is O 2n+2 O 2n+3 …O 4n+2 The distance is r, and the other rope in the third linkage rope 1400 is connected at the 2n+2nd joint arm 1100 by J using the first guide rope hose 1810. 2n+1 On-axis distance O 2n+1 Guide the position of r to J 2n+2 On-axis distance O 2n+2 Position r. In the yaw direction, the third linkage rope 1400 passes sequentially through shafts I2, I3…I. 4n+3 One of the third linkage ropes 1400 passes through shafts I2, I3...I 2n+2 Position distance from axes I2, I3…I 2n+2 The universal joint 1200 is located at center O2, O3, O 2n+2 The distance is r, and the third linkage rope 1400 passes through axis I. 2n+3 I 2n+4 …J 4n+3 Position distance from axis I 2n+3 I 2n+4 …I 4n+3 Located at the 1200 center of the universal joint 2n+3 O 2n+4 …O 4n+3 The distance is r. Using the first guide rope hose 1810, the fourth linkage rope 1700 is connected from I at the 2n+3rd joint arm 1100. 2n+2 On-axis distance O 2n+2 Guide the position of r to I 2n+3 On-axis distance O 2n+3 Position -r. Pass one of the third linkage ropes 1400 symmetrically to the other fourth linkage rope 1700 through axes I2, I3…I… 2n+2 Position distance from axes I2, I3…I 2n+2 The universal joint 1200 is located at center O2, O3, O 2n+2 The distance is r, and another of the third linkage ropes 1400 passes through axis I. 2n+3 I 2n+4 …I 4n+3 Position distance from axis I 2n+3 I 2n+4 …I 4n+3 The center of the universal joint 1200 is O 2n-3 O 2n+4 …O 4n+3 The distance is r, and the other rope in the third linkage rope 1400 is connected at the 2n+3rd joint arm 1100 by I using the first guide rope hose 1810.2n+2 On-axis distance O 2n+2 Position of -r leads to I 2n+3 On-axis distance O 2n+3 Position of r.

[0071] The principle that the length of path 2 does not change is as follows:

[0072] For convenience of description, it is assumed that the distance between the centers of two adjacent gimbals 1200 is l, and when the linkage arm segment 1000 undergoes a pitch motion, it is assumed that the angle of rotation of each pitch angle is θ I When the linkage arm segment 1000 undergoes a yaw motion, it is assumed that the angle of rotation of each pitch angle is θ J .

[0073] When the linkage arm segment 1000 undergoes a pitch and yaw motion at the same time, for one of the third linkage ropes 1400 in the pitch direction, the length from shaft I1 to shaft I2 is always l, the length from shaft I2 to shaft I3 is l-2rsinθ I , …, the length from shaft I 2n-1 to shaft I 2n is always l, the length from shaft I 2n to shaft I 2n+1 is l-2rsinθ I . The length from shaft I 2n+2 to shaft I 2n+3 of one of the third linkage ropes 1400 is l+2rsinθ I , the length from shaft I 2n+3 to shaft I 2n+4 is always l, …, the length from shaft I 4n to shaft I 4n+1 is l+2rsinθ I , the length from shaft I 4n+1 to shaft I 4n+2 is always l, so the total length of one of the third linkage ropes 1400 in the pitch direction is always (4n+1)l, and by analogy, the total length of the other of the third linkage ropes 1400 in the pitch direction is always (4n+1)l. For one of the third linkage ropes 1400 in the yaw direction, the length from shaft J2 to shaft J3 is always l, the length from shaft J3 to shaft J4 is l-2rsinθ J , …, the length from shaft J 2n to shaft J 2n+1 is always l, the length from shaft J 2n+1 to shaft J 2n+2 is l-2rsinθ J . The length from shaft J 2n+3 to shaft J 2n+4 of one of the third linkage ropes 1400 is l+2rsinθJ , the length from the axis J 2n+4 to the axis J 2n+5 is constant l, the length from the axis J 4n+1 to the axis J 4n+2 is l+2rsinθ J , the length from the axis J 4n+2 to the axis J 4n+3 is constant l, therefore, the total length of one of the third connecting ropes 1400 in the yaw direction is constant (4n+1)l, and the total length of the other of the third connecting ropes 1400 in the yaw direction is constant (4n+1)l. Therefore, the length of the path 2 is always constant.

[0074] The above description is only the preferred embodiments of the present application, the present application is not limited to the above-described embodiments, as long as the same means to achieve the technical effects of the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the disclosure, should be included within the scope of the disclosure. All should belong to the protection scope of the present application. The technical scheme and / or implementation within the protection scope of the present application can have various modifications and changes.

Claims

1. A rope-driven segmented linkage flexible manipulator with multiple linkage constraints, comprising, an operating arm driven by a driving device, the operating arm comprising a plurality of sequentially connected arm segments (1000), each arm segment (1000) being driven by at least three driving ropes pulled by the driving device to bend each arm segment (1000) respectively; characterized in that, each arm segment (1000) comprises: seven or more joint arms (1100); a universal joint (1200) connecting two adjacent joint arms (1100); a first linkage structure defining equal angle rotations of every two joint arms (1100) in the middle of two joint arms (1100) along a first swing axis and / or a second swing axis of the arm segment (1000) in opposite directions; a second linkage structure defining equal angle rotations of every two joint arms (1100) in the middle of two joint arms (1100) along two opposite directions perpendicular to the rotation direction defined by the first linkage structure; a third linkage rope (1400) connecting every 4n+1 joint arms (1100), the third linkage rope (1400) defining equal angle rotations of every two joint arms (1100) in the middle of 4n+1 joint arms (1100) along two directions defined by the first linkage structure; a fourth linkage rope (1700) connecting every 2n+1 joint arms (1100), the fourth linkage rope (1700) defining equal angle rotations of every two joint arms (1100) in the middle of 2n+1 joint arms (1100) along two directions defined by the second linkage structure; wherein the first swing axis is perpendicular to the second swing axis; both ends of the joint arm (1100) are provided with a rotating connector (1130); the rotating connector (1130) at the first end of the joint arm (1100) is rotatably connected to the universal joint (1200) on an A axis of the universal joint (1200), and the rotating connector (1130) at the second end of the joint arm (1100) is rotatably connected to the universal joint (1200) on a B axis of the universal joint (1200), wherein the A axis is perpendicular and / or parallel to the first swing axis, and the B axis is perpendicular to the A axis on one universal joint (1200). On the adjacent seven joint arms (1100), the third linkage rope (1400) is wound between the universal joints (1200) of the first end and the second end of the middle 4n+1 joint arms (1100), on the universal joint (1200) connected to the first end of the middle 4n+1 joint arms (1100), the third linkage rope (1400) is wound along the first clock 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 4n+1 joint arms (1100), on the universal joint (1200) connected to the second end of the middle 4n+1 joint arms (1100), the third linkage rope (1400) is wound along the second clock 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 4n+1 joint arms (1100), wherein the B axis of the universal joint (1200) connected to the first end of the middle 4n+1 joint arms (1100) and the A axis of the universal joint (1200) connected to the second end of the middle 4n+1 joint arms (1100) are parallel to each other, and the first clock direction and the second clock direction are opposite directions; On the adjacent five joint arms (1100), the fourth linkage rope (1700) is wound between the universal joints (1200) connected to the first end and the second end of the middle 2n+1 joint arms (1100), on the universal joint (1200) connected to the first end of the middle 2n+1 joint arms (1100), the fourth linkage rope (1700) is wound along the third clock direction of the A axis of the universal joint (1200) and is fixed to the universal joint (1200), on the universal joint (1200) connected to the second end of the middle 2n+1 joint arms (1100), the fourth linkage rope (1700) is wound along the fourth clock direction of the B axis of the universal joint (1200) and is fixed to the universal joint (1200), wherein the third clock direction and the fourth clock direction are opposite directions.

2. The rope-driven segmented linkage flexible robot arm with multiple linkage constraints according to claim 1, wherein, The outer side of the universal joint (1200) is provided with four mutually perpendicular mounting surfaces (1210) at both ends of the A axis and the B axis, and the mounting surfaces (1210) are provided with bosses (1250), wherein the two bosses (1250) opposite the two ends of the A axis and the two bosses (1250) opposite the two ends of the B axis are respectively rotatably connected with the rotating connectors (1130) of the adjacent two joint arms (1100); The outer periphery of the boss (1250) is provided with a fourth rope winding groove (1254), and the fourth linkage rope (1700) is wound in the fourth rope winding groove (1254); The universal joint (1200) is provided with an arc-shaped frame (1260) near the first end and the second end of the joint arm (1100), the third winding groove (1271) is arranged on the arc-shaped frame (1260) of the first end of the universal joint (1200) in the A-axis direction of the universal joint (1200), the third winding groove (1271) is arranged on the arc-shaped frame (1260) of the second end of the universal joint (1200) in the B-axis direction of the universal joint (1200), and the third linkage rope (1400) is wound in the third winding groove (1271).

3. The rope-driven segmented linkage flexible robot arm with multiple linkage constraints according to claim 2, wherein, The first linkage structure comprises a first linkage rope (1500) connecting two adjacent joint arms (1100), and the first linkage rope (1500) is wound between the universal joints (1200) connected to the first end and the second end of the middle joint arm (1100) on three adjacent joint arms (1100), the first linkage rope (1500) is wound in the first clock direction of the B-axis of the universal joint (1200) connected to the first end of the middle joint arm (1100) and is fixed to the adjacent joint arm (1100) of the first end of the middle joint arm (1100), and the first linkage rope (1500) is wound in the second clock direction of the A-axis of the universal joint (1200) connected to the second end of the middle joint arm (1100) and is fixed to the adjacent joint arm (1100) of the second end of the middle joint arm (1100), wherein the B-axis of the universal joint (1200) connected to the first end of the middle joint arm (1100) and the A-axis of the universal joint (1200) connected to the second end of the middle joint arm (1100) are parallel to each other. The second linkage structure comprises a second linkage rope (1600) connecting two adjacent joint arms (1100), and the second linkage rope (1600) is wound between the universal joints (1200) connected to the first end and the second end of the middle joint arm (1100) on three adjacent joint arms (1100), the second linkage rope (1600) is wound in the third clock direction of the A-axis of the universal joint (1200) connected to the first end of the middle joint arm (1100) and is fixed to the universal joint (1200), and the second linkage rope (1600) is wound in the fourth clock direction of the B-axis of the universal joint (1200) connected to the second end of the middle joint arm (1100) and is fixed to the universal joint (1200).

4. The rope-driven segmented linkage flexible robot arm with multiple linkage constraints according to claim 3, wherein, The outer periphery of the boss (1250) is further provided with a second winding groove (1251), and the second linkage rope (1600) is wound in the second winding groove (1251). The first winding groove (1261) is arranged on the arc-shaped frame (1260) of the first end of the universal joint (1200) along the A-axis of the universal joint (1200), the first winding groove (1261) is arranged on the arc-shaped frame (1260) of the second end of the universal joint (1200) along the B-axis of the universal joint (1200), and the first linkage rope (1500) is wound in the first winding groove (1261).

5. The rope-driven segmented linkage flexible robot arm with multiple linkage constraints according to claim 4, wherein, The joint arm (1100) comprises an arm rod (1110) with a cavity (1111) and disc parts (1120) connected to the first end and the second end of the arm rod (1110) respectively, and two rotating connecting pieces (1130) are symmetrically connected to the disc parts (1120) at the first end and the second end of the arm rod (1110) respectively; The first and second through holes (1112) and (1113) are arranged on the arm rod (1110) for the first and third linkage ropes (1500) and (1400) to pass through and be fixedly connected; The second and fourth through holes (1122) and (1124) are arranged on the disc parts (1120) outside the two rotating connecting pieces (1130) respectively, the second through hole (1122) corresponds to the first winding groove (1261), the fourth through hole (1124) corresponds to the third winding groove (1271), the first linkage rope (1500) wound in the first winding grooves (1261) of the adjacent two universal joints (1200) passes through the two second through holes (1122) opposite to each other in the two disc parts (1120), and the third linkage rope (1400) wound in the third winding grooves (1271) of the first and second ends of the intermediate 4n+1 joint arms (1100) passes through at least the fourth through holes (1124) of the disc parts (1120) of the intermediate 4n+1 joint arms (1100) and the fourth through holes (1124) opposite to each other in the disc parts (1120) of the intermediate 2n+1 joint arms (1100); The third and fifth through holes (1123) and (1125) are arranged on the disc parts (1120) inside the two rotating connecting pieces (1130), the third through hole (1123) corresponds to the second winding groove (1251), and the fifth through hole (1125) corresponds to the fourth winding groove (1254), the second linkage rope (1600) wound in the second winding grooves (1251) of the adjacent two universal joints (1200) passes through the third through hole (1123), and the fourth linkage rope (1700) wound in the fourth winding grooves (1254) of the first and second ends of the intermediate 2n+1 joint arms (1100) passes through at least the fifth through holes (1125) of the disc parts (1120) of the intermediate 2n+1 joint arms (1100).

6. The rope-driven segmented link flexible manipulator with multiple linkages constraint according to claim 5, wherein, in one joint arm (1100), two second through holes (1122) and fourth through holes (1124) on two opposite disc parts (1120) are crossed by a first guide rope hose (1810), a first linkage rope (1500) wound in a first rope winding groove (1261) of two adjacent universal joints (1200) is threaded in the second through hole (1122) and the first guide rope hose (1810); a third linkage rope (1400) wound in a third rope winding groove (1271) of the first end and second end universal joints (1200) of the middle 4n+1 joint arms (1100) is threaded in the fourth through hole (1124) of the middle 2n+1 joint arm (1100) and the first guide rope hose (1810); in the middle 2n+1 joint arms (1100), two fourth guide rope hoses (1820) are crossed between fifth through holes (1125) of the first end and second end disc parts (1120) of the middle 2n+1 joint arms (1100), a fourth linkage rope (1700) wound in a fourth rope winding groove (1254) of the first end and second end universal joints (1200) of the middle 2n+1 joint arms (1100) is threaded in the fourth guide rope hose (1820).

7. The rope-driven segmented link flexible manipulator with multiple linkages constraint according to claim 6, wherein, an end of the rotary connecting piece (1130) rotatably connected with the universal joint (1200) is provided with a rotary hole (1131), the rotary connecting piece (1130) is provided with a sector-shaped notch (1134) on the outside of the end rotatably connected with the universal joint (1200) and facing the universal joint (1200), the outside of the rotary connecting piece (1130) is provided with an avoiding groove (1133) corresponding to the second through hole (1122), the avoiding groove (1133) is communicated with the sector-shaped notch (1134), and the first linkage rope (1500) between the first rope winding groove (1261) and the second through hole (1122) is threaded in the avoiding groove (1133) and the sector-shaped notch (1134); the boss (1250) on the outside of the universal joint (1200) is provided with an axle hole (1230), the axle holes (1230) of two adjacent bosses (1250) are fixedly connected with a hollow first rotating shaft (1340), an end of the first rotating shaft (1340) is connected with a hollow rotating shaft (1370), the axle holes (1230) of the other two adjacent bosses (1250) are fixedly connected with a solid rotating shaft (1360), wherein the hollow rotating shaft (1370) is connected through a first bearing (1350) and the rotary hole (1131), and the solid rotating shaft (1360) is connected through a second bearing (1380) and the rotary hole (1131). The hollow rotating shaft (1370) and the solid rotating shaft (1360) are provided with a fan-shaped opening (1363) communicating with a fan-shaped gap (1134) on one side of the rotating connecting piece (1130), and the bottom of the opening (1363) is provided with a seventh through hole (1361), and a first linkage rope (1500) between the gap (1133) and the fan-shaped gap (1134) is arranged in the seventh through hole (1361); The end outer side of the hollow rotating shaft (1370) and the solid rotating shaft (1360) is provided with an eighth through hole (1362), and a third linkage rope (1400) between the fourth through hole (1124) and the third winding rope groove (1271) is arranged in the eighth through hole (1362); The universal joint (1200) is hollow, and two angle sensing devices (1300) are arranged on the universal joint (1200), and the angle sensing device (1300) comprises: An 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 fixed at one end of the input shaft (1320), and the other end of the connecting block (1330) passes through the opening of the hollow rotating shaft (1370) and is fixed to the rotating connecting piece (1130).

8. The rope-driven segmented linkage flexible robot arm with multiple linkage constraints according to claim 7, wherein The universal joint (1200) is provided with an arc-shaped seat (1270), the bottoms of the two arc-shaped seats (1270) are connected through the installation grooves and the two end portions of the arc-shaped frame (1260), respectively, the third winding rope groove (1271) is arranged on the arc-shaped seat (1270), and the third winding rope groove (1271) is located above the first winding rope groove (1261); The end of the arc-shaped seat (1270) close to the rotating connecting piece (1130) is provided with a guide hole (1272), and the third linkage rope (1400) between the third winding rope groove (1271) and the eighth through hole (1362) is arranged in the guide hole (1272).

9. The rope-driven segmented linkage flexible robot arm with multiple linkage constraints according to claim 6, wherein The boss (1250) is provided with a first adjusting hole (1252) at the end of the second winding rope groove (1251), a first hollow bolt (1255) is screwed in the first adjusting hole (1252), and the end of the second linkage rope (1600) passes through the first adjusting hole (1252) and is fixed to the first hollow bolt (1255); The end of the fourth rope guide hose (1820) is screwed with the fifth through hole (1125) through a pipe connector, and a fourth nut (1822) is further screwed on the outer side of the threaded portion of the pipe connector (1821); The arm segment (1000) further comprises a tether block (1900) arranged between the arm rod (1110) and the disc portion (1120), and the tether block (1900) is provided with a second adjustment hole (1920) corresponding to the first through hole (1112), the second adjustment hole (1920) communicating with the first through hole (1112); a third adjustment hole (1940) corresponding to the second through hole (1113), the third adjustment hole (1940) communicating with the second through hole (1113); a second hollow bolt (1930) screwed into the second adjustment hole (1920), an end of the first linkage rope (1500) passing through the first through hole (1112) and being fixed to the second hollow bolt (1930); a third hollow bolt (1950) screwed into the third adjustment hole (1940), an end of the third linkage rope (1400) passing through the second through hole (1113) and being fixed to the third hollow bolt (1950).

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