Linkage adjustment structure and rope-driven segmented linkage flexible robotic arm

Abstract

The present invention relates to a linkage adjustment structure and a rope-driven segmented linkage flexible robotic arm, the linkage adjustment structure includes a first universal joint and a second universal joint, the first rotation axes of the first universal joint and the second universal joint are respectively connected to the two ends of the first joint arm; the first adjustment structure includes a first arc-shaped portion provided on the first universal joint and the second universal joint, a first slider provided on the first joint arm, and a first linkage rope; the second adjustment structure includes a second slider provided on the first universal joint and the second universal joint and a second linkage rope; and a first linkage structure, the first linkage structure causes the first universal joint and the second universal joint to rotate at equal angles along opposite rotation directions of the first rotation axis; the rope-driven segmented linkage flexible robotic arm includes at least two arm segments and a linkage adjustment structure, the linkage adjustment structure is provided between the two arm segments; by adjusting the first adjustment structure and the second adjustment structure on the linkage adjustment structure, the linkage errors of the robotic arm in the pitch and yaw directions can be compensated, thereby improving the linkage accuracy of the arm segments.

Description

Technical Field

[0001] The present invention relates to the technical field of rope-driven flexible robots, in particular to a linkage adjustment structure and a rope-driven segmented linkage flexible robotic arm. Background Art

[0002] The rope-driven segmented linkage flexible robotic arm has great application prospects in scenarios such as aerospace, bomb disposal and wire cutting, and nuclear power detection due to its advantages of rigid-flexible hybrid, large workspace, flexible movement, and small number of drive motors. However, it is limited by factors such as friction and deformation during the linkage rope transmission process. Its theoretical intra-segment equal-angle linkage movement is not very accurate, resulting in errors in the linkage angles between the joints within the segment. This greatly weakens the movement accuracy of the rope-driven segmented linkage flexible robotic arm and limits its application scenarios. Summary of the Invention

[0003] The present invention provides a linkage adjustment structure and a rope-driven segmented linkage flexible mechanical arm, aiming to solve at least one of the technical problems existing in the prior art.

[0004] The technical solution of the present invention relates to a linkage adjustment structure, comprising: a first joint arm; a first universal joint and a second universal joint, wherein the first rotation axis of the first universal joint is rotatably connected to the first end of the first joint arm, the first rotation axis of the second universal joint is rotatably connected to the second end of the first joint arm, and the first universal joint and the second universal joint are symmetrically distributed; a first adjustment structure, the first adjustment structure comprising a first arc-shaped portion which is both arranged on the first universal joint and the second universal joint and close to the first joint arm, a first slider which corresponds to each first arc-shaped portion and is movably arranged on the first joint arm, and a first linkage rope with one end passing around the first arc-shaped portion and connected to the first slider, wherein a distance is provided between the center point of the first arc-shaped portion and the center point of the first universal joint. The first linkage rope is wound along the rotation direction of the first rotation axis of the first universal joint, and the moving direction of the first slider is basically perpendicular to the first rotation axis; the second adjustment structure includes a second slider movably arranged on the first universal joint and the second universal joint and a second linkage rope with one end passing around the second slider and fixed to the first universal joint, wherein the second linkage rope is wound along the rotation direction of the second rotation axis of the first universal joint, the moving direction of the second slider is basically perpendicular to the second rotation axis of the first universal joint, and the second rotation axis is basically perpendicular to the first rotation axis; and a first linkage structure is arranged between the first universal joint and the second universal joint, and the first linkage structure causes the first universal joint and the second universal joint to rotate at equal angles in opposite rotation directions of the first rotation axis.

[0005] Furthermore, the first arc-shaped portion includes a first arc-shaped frame arranged at the first universal joint and the second universal joint near one end of the first joint arm, and a first rope winding groove is provided on the first arc-shaped frame along the axial direction of the second rotation axis, and the first linkage rope is wound in the first rope winding groove; a first adjustment groove is provided on the first joint arm along the extension direction of the first rope winding groove, and the first slider moves along the first adjustment groove.

[0006] The cam is connected to the first end of the disc by a first rotation axis, and the first rotation axis of the first universal joint and the second universal joint are connected to the first rotation axis of the first end and the second end of the disc respectively; the position of the disc corresponding to the first arc frame of the first universal joint and the second universal joint is provided with a first avoidance groove along the direction of the first rope winding groove; the first adjustment groove is opened on both sides of the first avoidance groove on the disc; the first slider corresponding to the first arc frame of the first universal joint is provided at the second end of the disc, and the first slider corresponding to the first arc frame of the second universal joint is provided at the first end of the disc, and the two first sliders are respectively slidably engaged with at least one first avoidance groove through a guide portion; the position of the first slider corresponding to the first avoidance groove is provided with a first through-hole, and the end of the first linkage rope bypassing the first rope winding groove passes through the first avoidance groove and the first through-hole and is fixedly connected to the first slider; the first slider is provided with a locking portion fixed to the disc.

[0007] Furthermore, the outer sides of the first universal joint and the second universal joint are provided with four mutually perpendicular first mounting surfaces along the two ends of the first rotating axis and the second rotating axis; the second adjustment structure also includes: an adjustment bracket, which is provided on the first mounting surface corresponding to the end of the second rotating axis; a second adjustment slot, which is opened on the adjustment bracket in a direction perpendicular to the second rotating axis; and at least a portion of the second slider is slidably engaged with the second adjustment slot.

[0008] Furthermore, the second adjustment structure also includes: a first boss arranged on the first mounting surface; a second rope winding groove formed on the outer periphery of the first boss; a second pulley rotatably connected to the second slider, and the end of the second linkage rope sequentially passes around the second pulley and the second rope winding groove and is fixed to the first boss.

[0009] Furthermore, a linkage hole is provided on the disc, and a support rib is connected to the inner side of the linkage hole. The first rotating connecting member includes an extended end of the support rib extending toward the first end and the second end of the disc; the first linkage structure includes: a first sector tooth, connected to the first mounting surface of the first rotating shaft end corresponding to the first universal joint; a second sector tooth, connected to the first mounting surface of the first rotating shaft end corresponding to the second universal joint; the first sector tooth and the second sector tooth are meshingly connected.

[0010] The technical solution of the present invention also relates to a rope-driven segmented linkage flexible robotic arm, comprising: at least two arm segments and a linkage adjustment structure, the linkage adjustment structure being arranged between the two arm segments; wherein the second rotation axes of the first universal joint and the second universal joint are respectively rotationally connected to the ends of adjacent arm segments; the other ends of the first linkage rope and the second linkage rope are both connected to the adjacent arm segments.

[0011] Furthermore, the linkage adjustment structure also includes a second linkage structure, which includes: a second arc frame respectively arranged on the first universal joint and the second universal joint and away from the first joint arm, and a third rope winding groove is arranged on the second arc frame along the axial direction of the first rotation axis; a second avoidance groove arranged on the support rib, the second avoidance groove is located between the first rotation axis and the disc, and the second avoidance groove corresponds to the third rope winding groove; avoidance holes are arranged on the first sector teeth and the second sector teeth, and the avoidance holes correspond to the second avoidance groove; and a third linkage rope whose ends are respectively connected to adjacent arm segments, the third linkage rope passes through the linkage hole, the avoidance hole and the second avoidance groove in sequence and bypasses the third rope winding grooves of the first universal joint and the second universal joint respectively along the opposite rotation direction of the second rotation axis.

[0012] The second chain link rope is connected to the first chain link rope and the second chain link rope of the first chain link rope is connected to the first chain link rope of the second chain link rope.

[0013] Furthermore, the first universal joint and the second universal joint are hollow inside, the first rotating shaft and the second rotating shaft are hollow inside, and two angle sensing devices are respectively arranged on the first universal joint and the second universal joint. The angle sensing device includes: an encoder, the encoder is respectively arranged inside the first universal joint and the second universal joint, and has an input shaft extending into the hollow first rotating shaft and the second rotating shaft; a connecting block, one end of the connecting block is fixedly connected to the input shaft, and the other end is fixedly connected to the support rib or the end of the adjacent arm segment.

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

[0015] The present invention proposes a linkage adjustment structure for a rope-driven segmented linkage flexible robotic arm, wherein the linkage adjustment structure can be installed in the arm segment of a traditional rope-driven segmented linkage robotic arm, and by adjusting the fixed positions of the first slider of the first adjustment structure on the linkage adjustment structure and the second slider on the second adjustment structure, the lengths of the first linkage rope and the second linkage rope wound on the first universal joint and the second universal joint are changed when the arm segment is linked and bent, thereby compensating for and reducing the linkage error of the robotic arm in the pitch and yaw directions due to friction and deformation of the linkage rope, and improving the linkage accuracy within the segment of the linkage arm; at the same time, in conjunction with the angle sensing device for measuring the rotation angle of the rotation axis in the pitch and yaw directions in the universal joint, the rotation angle between the arm segment and the linkage adjustment structure is obtained in real time, which can cooperate with the operator to manually adjust the first adjustment structure and the second adjustment structure to reduce the linkage error, and on the other hand, facilitate the participation of the algorithm to improve the control accuracy of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 2 is a partial structural diagram of a linkage adjustment structure according to an embodiment of the present invention.

[0017] Figure 2 2 is an exploded schematic diagram of a first universal joint according to an embodiment of the present invention.

[0018] Figure 3 2 is an exploded schematic diagram of a second universal joint according to an embodiment of the present invention.

[0019] Figure 4 is a three-dimensional diagram of an adjustment bracket according to an embodiment of the present invention.

[0020] Figure 5 is a perspective view of a second slider according to an embodiment of the present invention.

[0021] Figure 6 is a perspective view of a first slider according to an embodiment of the present invention.

[0022] Figure 7 2 is a general schematic diagram of a robotic arm according to an embodiment of the present invention.

[0023] Figure 8 is a partial structural sectional view of a robotic arm according to an embodiment of the present invention.

[0024] Figure 9 yes Figure 8 A magnified view of some of the structures in .

[0025] Figure 10 is a schematic diagram of a first regulating structure according to an embodiment of the present invention.

[0026] Figure 11 FIG. 1 is a partial structural cross-sectional view from another angle of a robotic arm according to an embodiment of the present invention.

[0027] Figure 12 yes Figure 11 A magnified view of some of the structures in .

[0028] Figure 13 is a schematic diagram of a second regulating structure according to an embodiment of the present invention.

[0029] Figure 14 is a cross-sectional view of a second linkage structure according to an embodiment of the present invention.

[0030] Figure 15 2 is a partial structural exploded view of an arm segment according to an embodiment of the present invention.

[0031] Figure 16 is a perspective view of a third universal joint according to an embodiment of the present invention.

[0032] Figure 17 is a top view of a second articulated arm according to an embodiment of the present invention.

[0033] Figure 18 is a longitudinal sectional view of a second articulated arm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0035] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, terms such as "upper," "lower," "left," "right," "top," and "bottom" used in this disclosure are intended solely to describe the relative positions of the components of the disclosure as shown in the accompanying drawings.

[0036] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the related listed items.

[0037] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, 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 without departing from the scope of the present disclosure.

[0038] Reference Figure 1 and Figure 7 In some embodiments, according to the linkage adjustment structure 2000 of the present invention and the rope-driven segmented linkage flexible robotic arm using the linkage adjustment structure 2000, the rope-driven segmented linkage flexible robotic arm includes at least two arm segments 1000 and the linkage adjustment structure 2000, and the linkage adjustment structure 2000 is arranged between the two arm segments 1000.

[0039] Reference Figure 1, the linkage adjustment structure 2000 includes: a first articulated arm 2100; a first universal joint 2200 and a second universal joint 2600, the first rotation axis 2282 of the first universal joint 2200 is rotatably connected to the first end of the first articulated arm 2100, the first rotation axis 2282 of the second universal joint 2600 is rotatably connected to the second end of the first articulated arm 2100, and the first universal joint 2200 and the second universal joint 2600 are symmetrically distributed; a first adjustment structure, the first adjustment structure includes a first arc-shaped portion that is provided on the first universal joint 2200 and the second universal joint 2600 and is close to the first articulated arm 2100, a first slider 2400 corresponding to each first arc-shaped portion and movably provided on the first articulated arm 2100, and a first linkage rope 1500 with one end passing around the first arc-shaped portion and connected to the first slider 2400, wherein there is a distance between the center of the first arc-shaped portion and the center point of the first universal joint 2200, and the first linkage rope 1500 is extended along the first universal joint 22 00 is wrapped in the rotation direction of the first rotating shaft 2282 of the first universal joint 2200, and the moving direction of the first slider 2400 is basically perpendicular to the first rotating shaft 2282; a second adjustment structure, which includes a second slider 2250 movably arranged on the first universal joint 2200 and the second universal joint 2600 and a second linkage rope 1600 with one end passing around the second slider 2250 and fixedly connected to the first universal joint 2200, wherein the second linkage rope 1600 is wrapped along the rotation direction of the second rotating shaft 2290 of the first universal joint 2200, and the moving direction of the second slider 2250 is basically perpendicular to the second rotating shaft 2290 of the first universal joint 2200, and the second rotating shaft 2290 is basically perpendicular to the first rotating shaft 2282; and a first linkage structure 2300, which is arranged between the first universal joint 2200 and the second universal joint 2600, and the first linkage structure 2300 causes the first universal joint 2200 and the second universal joint 2600 to rotate at equal angles in opposite rotation directions of the first rotating shaft 2282. The second rotation axes 2290 of the first universal joint 2200 and the second universal joint 2600 are respectively rotatably connected to the ends of adjacent arm segments 1000; the other ends of the first linkage rope 1500 and the second linkage rope 1600 are both connected to adjacent arm segments 1000. The linkage adjustment structure 2000 can be installed in the arm segment 1000 of a conventional rope-driven segmented linkage manipulator. By adjusting the fixed positions of the first slider 2400 of the first adjustment structure and the second slider 2250 of the second adjustment structure on the linkage adjustment structure 2000, the length of the first linkage rope 1500 and the second linkage rope 1600 wrapped around the first universal joint 2200 and the second universal joint 2600 is changed when the arm segment 1000 is linked and bent. This can compensate for and reduce linkage errors in the pitch and yaw directions of the manipulator caused by friction and deformation of the linkage ropes, thereby improving the linkage accuracy within the segment of the linkage arm.

[0040] Reference Figure 8 、 Figure 9 、 Figure 11 and Figure 12 The arm segment 1000 includes at least two second articulated arms 1100, and a third universal joint 1200 is rotatably connected between each two second articulated arms 1100. The first second articulated arm 1100 at the end of the arm segment 1000 is rotatably connected to the third universal joint 1200 along the second rotation axis 2290 (i.e., the rotation axis in the yaw direction of the arm manipulator) of the first universal joint 2200 or the second universal joint 2600. The second second articulated arm 1100 at the end of the arm segment 1000 is rotatably connected to the third universal joint 1200 along the first rotation axis 2290 (i.e., the rotation axis in the yaw direction of the arm manipulator) of the first universal joint 2200 or the second universal joint 2600. The rotation axis 2282 (i.e., the rotation axis in the pitch direction of the arm manipulator) is rotatably connected to the third universal joint 1200. After the other end of the first linkage rope 1500 in the first adjustment structure passes through the first second joint arm 1100 of the arm segment 1000, the first linkage rope 1500 is wound in the opposite direction of the first rotation axis 2282 on the first universal joint 2200 or the second universal joint 2600 (i.e., the first linkage rope 1500 is wound in the opposite direction of the first rotation axis 2282 on the first universal joint 2200 or the second universal joint 2600). When winding in a clockwise direction, the first linkage rope 1500 is wound in a second clockwise direction along the first rotation axis 2282 on the third universal joint 1200, and the first clockwise direction and the second clockwise direction are opposite to each other) and then passes around the first rotation axis 2282 of the third universal joint 1200 and is fixedly connected to the second second joint arm 1100; the other end of the second linkage rope 1600 in the second adjustment structure passes through the first second universal joint 2600 at the end of the arm segment 1000, and then along the second linkage rope 1600 at the first universal joint 2200 or the second joint arm 1100. The second universal joint 2600 is wound in the opposite direction of the second rotation axis 2290 (i.e., when the second linkage rope 1600 is wound along the third clockwise direction of the second rotation axis 2290 on the first universal joint 2200 or the second universal joint 2600, the second linkage rope 1600 is wound along the fourth clockwise direction of the second rotation axis 2290 on the third universal joint 1200, and the third clockwise direction and the fourth clockwise direction have opposite directions of rotation) and then passes around the second rotation axis 2290 of the third universal joint 1200 and is fixedly connected to the third universal joint 1200. Thus, the first linkage rope 1500 and the second linkage rope 1600 achieve equal-angle counter-rotating linkage between the first articulated arm 2100 in the linkage adjustment structure 2000 and the corresponding second articulated arm 1100 in the arm segment 1000.

[0041] Reference Figure 7 and Figure 15 The first rotation axis 2282 in the accompanying drawings is set as the A-axis, and the second rotation axis 2290 in the accompanying drawings is set as the B-axis, that is, when the arm segment 1000 swings along the pitch direction of the robotic arm, it swings along the rotation direction of the A-axis in the accompanying drawings, and when the arm segment 1000 swings along the yaw direction of the robotic arm, it swings along the rotation direction of the B-axis in the accompanying drawings.

[0042] In addition, the first rotation axis 2282 and the second rotation axis 2290 are only described with reference to the drawings in the specification of the embodiment of the present invention. In practice, the first rotation axis 2282 and the second rotation axis 2290 can be swapped.

[0043] Reference Figures 1 to 3 The first arc portion includes a first arc frame 2270 provided at one end of the first universal joint 2200 and the second universal joint 2600 near the first joint arm 2100. There is a distance between the center of the first arc frame 2270 and the center point of the first universal joint 2200. A first rope winding groove 2271 is provided on the first arc frame 2270 along the axial direction of the second rotation axis 2290. That is, the first arc frame 2270 and the first universal joint 2200 or the second universal joint 2600 on the first arc frame 2270 are eccentrically arranged to wind around the first universal joint 2200 or the second universal joint 2600. 0 part of the first linkage rope 1500 is wound in the first rope winding groove 2271; a first adjustment groove 2112 is provided on the first articulated arm 2100 along the extension direction of the first rope winding groove 2271, and the first slider 2400 is displaced along the first adjustment groove 2112. Specifically, by adjusting the position of the first slider 2400 in the first adjustment groove 2112, the length of the first wheel linkage rope after it passes around the first universal joint 2200 can be controlled, thereby ensuring the equal-angle reverse linkage between the second articulated arm 1100 and the first articulated arm 2100 by compensating for the error of the linkage rope.

[0044] Reference Figure 8 、 Figure 9 and Figure 15 , third arc frames 1260 are also provided at both ends of the third universal joint 1200, the center of the third arc frame 1260 is the center point of the third universal joint 1200, the third arc frame 1260 at one end of the third universal joint 1200 close to the end of the arm segment 1000 is provided with a fourth rope winding groove 1261 along the first rotation axis 2282 of the universal joint, and the third arc frame 1260 at one end of the third universal joint 1200 away from the end of the arm segment 1000 is also provided with a fourth rope winding groove 1261 along the second rotation axis 2290 of the universal joint, and the fourth rope winding groove 1261 and the first rope winding groove 2271 coincide with each other along the second rotation axis 2290. Specifically, The first linkage rope 1500 of the first adjustment structure is wound in the first rope winding groove 2271 and the second rope winding groove 2231, so that the first linkage rope 1500 is wound in and released on the third universal joint 1200 and the first universal joint 2200 (second universal joint 2600), and the first linkage rope 1500 is wound in or released along a fixed angle, thereby preventing the first linkage rope 1500 from creeping on the first universal joint 2200 (second universal joint 2600) and the third universal joint 1200 due to changes in the winding angle, thereby affecting the reverse linkage constraint in the pitch direction of the first joint arm 2100 of the linkage adjustment structure 2000 and the second joint arm 1100 of the arm segment 1000.

[0045] Reference Figure 1 and Figure 9 The first articulated arm 2100 includes: a disk 2110; a first rotating connection member, which is respectively provided at the first end and the second end of the disk 2110; wherein the first rotating shaft 2282 of the first universal joint 2200 and the second universal joint 2600 are respectively connected to the first rotating connection members at the first end and the second end of the disk 2110; the disk 2110 is provided with a first arc frame 2270 corresponding to the position of the first universal joint 2200 and the second universal joint 2600 along the direction of the first rope winding groove 2271. A first avoidance groove 2113; a first adjustment groove 2112 is opened on both sides of the first avoidance groove 2113 on the disk 2110; a first slider 2400 corresponding to the first arc frame 2270 of the first universal joint 2200 is set at the second end of the disk 2110, and a first slider 2400 corresponding to the first arc frame 2270 of the second universal joint 2600 is set at the first end of the disk 2110, and the two first sliders 2400 slide with at least one first avoidance groove 2113 respectively through the guide portion 2430 Specifically, the first slider 2400 corresponding to the first universal joint 2200 is set at the second end of the disc 2110, and the first slider 2400 corresponding to the second universal joint 2600 is set at the first end of the disc 2110, so that the pulling force applied by the first linkage rope 1500 at one end of the disc 2110 to the first slider 2400 is converted into pressure between the first slider 2400 and the other end surface of the disc 2110, which plays the role of auxiliary anchoring and effectively simplifies the fastening of the first slider 2400. 0 and the volume of fasteners required for the disc 2110, and can reduce the failure rate and error. At the same time, the first avoidance groove 2113 provided along the direction of the first rope winding groove 2271 on the first arc frame 2270 allows the first linkage rope 1500 to rotate around the first rotating connector of the disc 2110 within the range of the first universal joint 2200 or the second universal joint 2600 and pass through the first avoidance groove 2113 without any obstacles, avoiding scratches and touches that cause the first linkage rope 1500 to stretch and affect the linkage accuracy. The first slider 2400 is provided with a first through-hole 2410 at the position corresponding to the first avoidance groove 2113. The end of the first linkage rope 1500 that bypasses the first rope winding groove 2271 passes through the first avoidance groove 2113 and the first through-hole 2410 and is fixed to the first slider 2400; the first slider 2400 is provided with a locking portion 2440 that is fixed to the disc 2110. Refer to Figure 6The cooperation between the first slider 2400 and the first adjustment groove 2112 on the side of the first avoidance groove 2113 limits the first slider 2400 to move only in the direction of the first adjustment groove 2112, thereby preventing the first slider 2400 from being displaced in other directions and affecting the adjustment of the first linkage rope 1500. The first adjustment groove 2112 is arranged along the direction of the first rope winding groove 2271, and the first arc frame 2270 and the first universal joint 2200 (the second universal joint 2600) are eccentrically designed. When the position of the first slider 2400 on the first adjustment groove 2112 is adjusted, the first linkage rope 1500 can be adjusted. The end is positioned at a fixed point on the first universal joint 2200, and the winding angle of the first linkage rope 1500 on the first arc frame 2270 is changed to adjust the transmission relationship of the first linkage rope 1500 between the first universal joint 2200 (the second universal joint 2600) and the third universal joint 1200 at the end of the arm segment 1000; and a plurality of locking holes are provided on the locking portion 2440 of the first slider 2400, and the locking holes of the two first sliders 2400 correspond to the two first adjustment grooves 2112 respectively, and the first slider 2400 and the disc 2110 can be locked by screwing the locking holes and the first adjustment grooves 2112 together.

[0046] In addition, a scale is provided on the disk 2110 along the direction of the first adjustment slot 2112, and the position of the first slider 2400 on the disk 2110 along the direction of the first adjustment slot 2112 can be quickly adjusted through the scale, thereby quickly adjusting the transmission size relationship between the linkage adjustment structure 2000 and the arm segment 1000 in the pitch direction.

[0047] Further, refer to Figure 1 A linkage hole 2111 is provided on the disk 2110, and mounting portions 2114 are provided on both side edges of the linkage hole 2111. Support ribs 2120 are connected to the two inner sides of the linkage hole 2111. The support ribs 2120 are fixedly connected to the mounting portions 2114. The first rotating connection member includes an extended end of the support rib 2120 extending toward the first end and the second end of the disk 2110. The extended ends of the first end and the second end of the disk 2110 are symmetrical to each other, that is, the first rotating shaft 2282 (A-axis) of the first universal joint 2200 and the second universal joint 2600 are rotatably connected to the extended end of the support rib 2120.

[0048] In addition, refer to Figure 8 and Figure 9, two first linkage ropes 1500 of the first adjustment structure at each end of the disc 2110 are provided, and two corresponding first sliders 2400 are also provided, and the corresponding first adjustment slots 2112 are respectively arranged on both sides of the linkage hole 2111 along the first rotation axis 2282. On the first universal joint 2200 or the second universal joint 2600, one end of the two first linkage ropes 1500 respectively passes through the first rope winding groove 2271 of the first arc frame 2270 in the opposite rotation direction of the first rotation axis 2282 and is fixedly connected to the first slider 2400. On the third universal joint 1200, the other end of the two first linkage ropes 1500 passes through the fourth rope winding groove 1261 on the third arc frame 1260 in the opposite rotation direction of the first rotation axis 2282 of the third universal joint 1200 at the end of the third universal joint 1200 away from the disc 2110 and is fixedly connected to the second second joint arm 1100 at the end of the arm segment 1000.

[0049] It is worth mentioning that, referring to Figure 6 A reinforcement seat 2420 is provided on the first slider 2400 , and the first through-hole 2410 is provided on the reinforcement seat 2420 to improve the tensile strength of the first slider 2400 .

[0050] Reference Figure 10 , Figure 10 is the principle diagram of the first regulating structure, where O pR is the center point of the first universal joint 2200 (the second universal joint 2600), O pr is the center of the first arc frame 2270 fixedly connected to the first universal joint 2200 (second universal joint 2600), O pR With O pr There is a certain eccentricity, C is the first tangent point between the first linkage rope 1500 and the first arc frame 2270, B1 is the second tangent point between the first linkage rope 1500 and the first arc frame 2270 when the robotic arm is in the initial position (the robotic arm is in a vertical state), A1 is the fixed point of the first slider 2400 fixedly connected to the first linkage rope 1500 on the disc 2110 when the robotic arm is in the initial position, B2 is the second tangent point between the first linkage rope 1500 and the first arc frame 2270 when the robotic arm has a certain rotation angle in the A-axis direction (pitch direction), A2 is the fixed point of the first slider 2400 fixedly connected to the first linkage rope 1500 on the disc 2110 when the robotic arm has a certain rotation angle. D and G are the turning points of the first linkage rope 1500 on the second rotating connector 1130 on the second joint arm 1100, E and F are the connection points between the second rotating connector 1130 and the end surfaces of the two end discs 1120 of the arm rod 1110 on the second joint arm, tR: H is the center point of the third universal joint 1200 connected to the first universal joint 2200 (second universal joint 2600) through the first second articulated arm 1100 at the end of the arm segment 1000. H is the first tangency point between the first link rope 1500 and the third arc frame 1260 of the third universal joint 1200. I1 is the second tangency point between the first link rope 1500 and the third arc frame 1260 when the robotic arm is in the initial position. J1 is the fixing point between the first link rope 1500 and the second second articulated arm 1100 at the end of the arm segment 1000 when the robotic arm is in the initial position. I2 is the second tangency point between the first link rope 1500 and the first arc frame 2270 when the robotic arm has a certain rotation angle in the A-axis direction. J2 is the fixing point between the first link rope 1500 and the second second articulated arm 1100 at the end of the arm segment 1000 when the robotic arm has a certain rotation angle in the A-axis direction. When the robot arm rotates counterclockwise in the A-axis direction as shown in the figure, and will all change, while the lengths of DE, EF, FG, GH, and I1J1 remain constant.

[0051] Reference Figure 10 The structural principle diagram is as follows: when the supporting rib 2120 rotates with the disk 2110 around the A axis (rotation point O) of the first universal joint 2200 (the second universal joint 2600) pR ) During the first clockwise rotation θ, the tether point, which remains in a constant position relative to the support rib 2120, rotates from A1 to A2 by θ. Since the lengths of DE, EF, FG, GH, I1, and J1 remain constant and the total length of the first linkage rope 1500 remains unchanged, the tether end J1 of the second articulated arm 1100 at the end of the arm segment 1000 is pulled to J2, and I1 rotates along the second clockwise direction to I2. In the following description, R is assumed to be ⊙O pR The radius of a is O pR O pr The length of r is ⊙O pr The radius of R′ is ⊙O tR radius.

[0052] In the above embodiment, the support rib 2120 rotates around the A-axis direction of the first universal joint 2200 (the second universal joint 2600) as the active end, and the second second joint arm 1100 at the end of the arm segment 1000 rotates around the A-axis direction of the third universal joint 1200 between the first second joint arm 1100 at the end of the arm segment 1000 as the passive end. It should be noted that when the active end and the driven end are interchanged, the following principles and results are not affected. The angle at which the passive end is pulled when the active end moves θ is calculated according to the following steps and formulas.

[0053] ∠A1O pR D=arccos(OpR D / R)

[0054] ∠A1O pR O pr =180°-∠A1O pR D

[0055] ∠A2O pR O pr =180°-(θ+∠A1O pR D)

[0056]

[0057]

[0058]

[0059]

[0060]

[0061]

[0062] ∠B2A2O pR =∠B2A2O pr -∠O pR A2O pr

[0063]

[0064] ∠B2O pR D=180°-arccos((B2O pR 2 +a 2 -r 2 ) / (2×a×B2O pR ))

[0065] ∠B2O pr D=arccos((r 2 +a 2 -B2O pR 2 ) / (2×a×r))

[0066] ∠B2O pr B1=∠B2O pr D+∠DO pr B1

[0067] where ∠DO pr B1 is -∠DO calculated when θ=0° in the above process pr B2

[0068] ΔS1=A2B2-A1B1

[0069] ΔS2=(∠B2O pr B1 / 360)×2πr

[0070] ∠I2O tR I1=(ΔS1+ΔS2)×360° / (2πR′)

[0071] Therefore, when the support rib 2120 rotates around the A axis (rotation point O) of the first universal joint 2200 (the second universal joint 2600), pR ) When the first clockwise rotation is θ, the second second joint arm 1100 at the end of the arm segment 1000 will rotate in the second clockwise direction around the axis of the third universal joint 1200A by ∠I2O tR I1, when taking θ for different values, it is found that within a certain range (θ∈(-20°,20°)), (ΔS1+ΔS2) and θ are approximately linearly related. At this time, let (ΔS1+ΔS2)=kθ, so ∠I2O tR I1=(k×360° / (2πR′))×θ, that is, ∠I2O tR I1 and θ are approximately linearly related. When (k×360° / (2πR′))=1, the movement on both sides is the same. When (k×360° / (2πR′))>1, ∠I2O tR I1>θ, the driven rotation is greater than the active rotation. When (k×360° / (2πR′))<1, ∠I2O tR I1<θ, the driven rotation is smaller than the active rotation, and k is related to factors such as R, r, a, and initial conditions. When the position of A1 is changed, R and the initial conditions will change, thereby changing k, and then changing the transmission relationship between the two shafts.

[0072] Utilizing the above principles, when appropriate R, r, a, R′, and initial conditions are designed, the value of (k×360° / (2πR′)) is maintained near 1. When the first slider 2400 is translated along the first adjustment slot 2112 on the disk 2110, the transmission relationship between the linkage adjustment structure 2000 and the arm segment 1000 in the pitch direction can be adjusted, thereby compensating for the effects of rope deformation, friction, and other factors on the movement of the two ends of the first linkage rope 1500, thereby compensating for linkage errors and improving the linkage accuracy of the structure between the two first rotation axes 2282.

[0073] Reference Figure 1 、 Figure 8 and Figure 9 , with the disk 2110 as the symmetry plane, the first adjustment structures at both ends of the disk 2110 are exactly the same, that is, Figure 10The structural principle described above applies to both the left and right ends of the disk 2110. The outer sides of the first universal joint 2200 and the second universal joint 2600 are each provided with four mutually perpendicular first mounting surfaces 2210 along the ends of the first rotation axis 2282 and the second rotation axis 2290. The first linkage structure 2300 between the first universal joint 2200 and the second universal joint 2600 preferably includes a first sector tooth 2310 connected to the first mounting surface 2210 at the end of the first rotation axis 2282 of the first universal joint 2200, and a second sector tooth 2320 connected to the first mounting surface 2210 at the end of the second universal joint 2600 corresponding to the first rotation axis 2282. The first sector tooth 2310 and the second sector tooth 2320 are meshingly connected. Specifically, the first rotating shaft 2282 of the first universal joint 2200 and the second universal joint 2600 is transmitted through the first sector tooth 2310 and the second sector tooth 2320, that is, when the first universal joint 2200 rotates around its first rotating shaft 2282, it drives the first sector tooth 2310 to rotate, and the first sector tooth 2310 drives the second sector tooth 2320 engaged with it to rotate, so that the second sector tooth 2320 drives the second universal joint 2600 to rotate in opposite directions at equal angles along its first rotating shaft 2282.

[0074] Reference Figure 1 、 Figure 2 、 Figure 3 、 Figure 11 and Figure 12The second adjustment structure also includes: a first boss 2230 provided on the first mounting surface 2210; a second rope winding groove 2231 formed on the outer periphery of the first boss 2230; an adjustment bracket 2240 provided on the first mounting surface 2210 corresponding to the end of the second rotating shaft 2290, a second adjustment groove 2241 is opened on the adjustment bracket 2240 in a direction perpendicular to the second rotating shaft 2290, the second slider 2250 is at least partially slidably engaged with the second adjustment groove 2241, and the second pulley 2260 is rotatably connected to the second slider 2250, the rotating axis of the second pulley 2260 is parallel to the second rotating shaft 2290, and the end of the second linkage rope 1600 passes around the second pulley 2260 and the second rope winding groove 2231 in sequence and is fixed to the first boss 2230. Specifically, the cooperation between the second adjusting slot 2241 and the second slider 2250 limits the second slider 2250 to move only in the direction of the second adjusting slot 2241, preventing the second slider 2250 from being displaced in other directions and affecting the adjustment of the second link rope 1600. The second adjusting slot 2241 is perpendicular to the second rotating axis 2290, and the second pulley 2260 rotating on the second slider 2250 is always at the winding point of the second link rope 1600 in the second rope winding slot 2231. When the position of the second slider 2250 on the second adjusting slot 2241 is adjusted, the axial distance between the second pulley 2260 and the second rotating axis 2290 changes, thereby adjusting the position of the winding point of the second link rope 1600 on the first boss 2230 of the first universal joint 2200 or the second universal joint 2600, thereby changing the winding angle of the second link rope 1600 on the first universal joint 2200 or the second universal joint 2600.

[0075] Reference Figure 15 and Figure 16 The outer side of the third universal joint 1200 is provided with four mutually perpendicular second mounting surfaces 1210 along both ends of the first transmission shaft and the second transmission shaft. A second boss 1250 is provided on the second mounting surface 1210 of the third universal joint 1200. A fifth rope winding groove 1251 is provided on the outer periphery of the second boss 1250. The fifth rope winding groove 1251 of the second boss 1250 corresponding to the end of the second transmission shaft is parallel to and opposite to the second rope winding groove 2231. The second linkage rope 1600 of the second adjustment structure is arranged in the fifth rope winding groove 1251. and wound in the second rope winding groove 2231, so that the second linkage rope 1600 that is wound in and released on the third universal joint 1200 and the first universal joint 2200 (second universal joint 2600) is wound in or released along a fixed angle, thereby preventing the second linkage rope 1600 from creeping on the first universal joint 2200 (second universal joint 2600) and the third universal joint 1200 due to changes in the winding angle, thereby affecting the reverse linkage constraint in the yaw direction of the first joint arm 2100 of the linkage adjustment structure 2000 and the second joint arm 1100 of the arm segment 1000.

[0076] In addition, back to Figure 11 and Figure 12 The second adjustment structure of each end of the disk 2110 is provided with two second linkage ropes 1600, and two corresponding second sliders 2250 are also provided. The corresponding adjustment brackets 2240 are respectively arranged on the first bosses 2230 at both ends of the second rotation axis 2290 of the first universal joint 2200 or the second universal joint 2600. On the first universal joint 2200 or the second universal joint 2600, one end of the two second linkage ropes 1600 is passed around the second sliders 2250 along the opposite rotation direction of the second rotation axis 2290. 0, and then continue to wind around the second rope groove 2231 and be fixedly connected to the first boss 2230. On the third universal joint 1200, the other ends of the two second linkage ropes 1600 are on the fifth rope groove 1251 of the second boss 1250 at both ends of the second rotating shaft 2290 of the third universal joint 1200 and are fixedly connected to the second boss 1250. The winding directions of each second linkage rope 1600 on the first universal joint 2200 (second universal joint 2600) and the third universal joint 1200 are opposite.

[0077] That is, by adjusting the relative position of the second slider 2250 in the second adjustment slot 2241 , the transmission relationship of the universal joints at both ends of the second linkage rope 1600 can be changed.

[0078] It is worth mentioning that, referring to Figure 4 and Figure 5 The adjusting bracket 2240 is provided with limiting grooves 2242 on both sides of the second adjusting groove 2241, and the edge of the second slider 2250 is provided with a convex edge 2252 that cooperates with the limiting groove 2242. In order to fasten the second slider 2250 on the adjusting bracket 2240 after adjusting the second slider 2250, the adjusting bracket 2240 is provided with a locking groove 2243 that connects to the second adjusting groove 2241 on one side of the second adjusting groove 2241, and a screw hole is provided on the second slider 2250, and the second slider 2250 can be locked by passing a screw through the locking groove 2243 and screwing into the screw hole.

[0079] Reference Figure 13 The structural principle diagram of ZRis the center point of the first universal joint 2200 (second universal joint 2600), M2 is the fixing point of the second link rope 1600 and the first boss 2230 on the first universal joint 2200 (second universal joint 2600), A2 is the tangent point of the second link rope 1600 in the second rope winding groove 2231 in the B-axis direction of the first universal joint 2200 (second universal joint 2600), B2 is the first tangent point of the second link rope 1600 and the second pulley 2260, C2 is the second tangent point of the second link rope 1600 and the second pulley 2260, D2 is the tangent point of the second link rope 1600 and the fifth rope winding groove 1251 on the second boss 1250 of the third universal joint 1200, and N2 is the fixing point of the second link rope 1600 and the third universal joint 1200.

[0080] Reference Figure 13 The precision adjustment principle of this embodiment in the B-axis direction is described. When the first universal joint 2200 (the second universal joint 2600) is moved along the B-axis direction (rotation point O ZR ) rotates clockwise by θ, the fixed point between the second linkage rope 1600 and the first universal joint 2200 (second universal joint 2600) rotates from M2 to M1, and at the same time, the center of the second pulley 2260 fixedly connected to the first universal joint 2200 (second universal joint 2600) moves from ⊙O r2 Rotate to ⊙O r1 Position, tensioning the rope segment in the second linkage rope 1600 A2B2, C2D2 and D2N2 will move to A1B1, C1D1, D1N1, among which The lengths of A2B2 and D2N2 remain constant. The length of C2D2 changes due to the rotation, and since the total length of the second linkage rope 1600 remains unchanged, the end point N2 will be pulled to N1 during the rotation. ZR The radius of r1 is ⊙O r1 The radius of d is ⊙O ZR With ⊙O r1 The center distance of R2 is ⊙O CR Radius, L ZC O ZR With ⊙O CR Center distance.

[0081] In the above embodiment, the first universal joint 2200 (the second universal joint 2600) rotating around the axis of the second articulated arm 1100B is taken as the active end, and the third universal joint 1200 rotating around the axis of the second articulated arm 1100B is taken as the passive end. It should be noted that when the active end and the passive end are interchanged, the following principles and results are not affected. The angle at which the passive end is pulled when the active end moves θ is calculated according to the following steps and formulas.

[0082] ∠A1O ZR O r1 =∠A2O ZR O r2 =arccos((R1-r1) / d)

[0083]

[0084] ∠O r2 O ZR E2=arccos((r1+d) / O ZR E2)

[0085] ∠HO ZR C2=90°-∠O r2 O ZR E2

[0086] In O ZR IE1 and O CR In D1E1, O ZR E1 / E1O CR =O ZR I / O CR D1

[0087] And O ZR I=cos(∠O r1 O ZR I)×d+r1,O CR D1=R2

[0088] O ZR E1=O ZR E1×cos(∠O r1 O ZR E1-∠O r1 O ZR I)

[0089] Therefore, we can get

[0090]

[0091] where τ = arctan(L ZC ×cos(∠O r1 O ZR E1)-d,L ZC×sin(∠O r1 O ZR E1))

[0092] Therefore ∠O r1 O ZR I=arcsin(sin(∠O r1 O ZR I+τ))-τ

[0093] O ZR E1=L ZC / (R2 / O ZR I)

[0094] C1D1=sin(∠O r1 O ZR I)×d+tan(∠IO ZR E1)×O ZR I+tan(∠IO ZR E1)×R2

[0095] C2D2=tan(∠C2O ZR E2)×(r1+d+R2)

[0096] ∠B1O r1 C1=360°-(180°-∠A1O ZR O r1 )-(180°-∠O r1 O ZR I)

[0097]

[0098] ∠B2O r2 C2=360°-(180°-∠A2O ZR O r2 )-180°

[0099]

[0100] ΔS1+ΔS2=(B1C1+C1D1)-(B2C2+C2D2)

[0101] θ2=(ΔS1+ΔS2) / (2πR2)×360°

[0102] Therefore, when the first universal joint 2200 (the second universal joint 2600) is rotated along the B axis (rotation point O ZR ) When the first clockwise rotation θ, the third universal joint 1200 will rotate around its B axis (rotation point O CR)Secondly, rotate θ2 clockwise. When θ is taken as different values, it is found that within a certain range of θ∈(-30°,30°), (ΔS1+ΔS2) is approximately linearly related to θ. At this time, let (ΔS1+ΔS2)=kθ, therefore, θ2=(k×360° / (2πR2))×θ, that is, when the structure is fixed, θ2 is approximately linearly related to θ. When (k×360° / (2πR′))=1, the motion on both sides is the same; when (k×360° / (2πR′))>1, θ2>θ, and the driven rotation is greater than the active rotation; when (k×360° / (2πR′))<1, θ2<θ, and the driven rotation is less than the active rotation.

[0103] When the change ZR With ⊙O r1 When the center distance d is changed, k will be significantly changed. At the same time, the appropriate R1, r1, R2, L ZC The structural dimensions are such that (k×360° / (2πR′)) is close to 1. Thus, by changing d to make the second slider 2250 translate along the second adjustment slot 2241, the transmission relationship between the linkage adjustment structure 2000 and the arm segment 1000 in the yaw direction can be adjusted, thereby compensating for the effects of rope deformation and friction on the transmission accuracy on both sides, compensating for linkage errors, and improving the linkage accuracy of the structure between the two second rotating shafts 2290.

[0104] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 14In order to enable the arm segments 1000 at both ends of the linkage adjustment structure 2000 to accurately link in opposite directions along the yaw direction of the robotic arm, the linkage adjustment structure 2000 further includes a second linkage structure, which includes: a second arc frame 2280 respectively provided on the first universal joint 2200 and the second universal joint 2600 and away from the first joint arm 2100, a third rope winding groove 2281 provided on the second arc frame 2280 along the axial direction of the first rotation axis 2282; a second avoidance groove 2122 provided on the supporting rib 2120, the second avoidance groove 2122 being located between the first rotation axis 2282 and The third linkage rope 2500 is connected to the first and second arm segments 1000 respectively. The third linkage rope 2500 passes through the linkage hole 2111, the avoidance hole 2312 and the second avoidance groove 2122 in sequence and bypasses the third rope winding groove 2281 of the first universal joint 2200 and the second universal joint 2600 in the opposite direction of rotation of the second rotating shaft 2290. Specifically, two third linkage ropes 2500 are provided. The first ends of the two third linkage ropes 2500 are respectively fixed to the second joint arm 1100 at the end of the first end arm section 1000 of the communication adjustment structure, and then they are wound out along the third clockwise direction or the fourth clockwise direction of the first universal joint 2200 in the third rope winding groove 2281 to the outside of the support rib 2120 on one side of the first end of the disc 2110, and then they are wound back into the support rib 2120 from the second avoidance groove 2122 on the support rib 2120, and then pass through the first avoidance hole 2312 of the first sector tooth 2310, the linkage hole 2111 and the avoidance hole 2312 of the second sector tooth 2320. Then, it passes through the second avoidance groove 2122 of the support rib 2120 on the other side of the second end of the disc 2110 to the outside of the support rib 2120, and finally passes around the third rope winding groove 2281 along the fourth clockwise direction or the third clockwise direction of the second universal joint 2600, and the second end is fixed to the second joint arm 1100 at the end of the arm segment 1000 at the second end of the connecting adjustment structure, so as to realize that when the arm segment 1000 at the first end of the adjusting linkage structure rotates along the rotation direction of the first rotating shaft 2282 of the first universal joint 2200, the arm segment 1000 at the second end of the adjusting linkage structure is linked at the opposite angle along the second rotating shaft 2290 of the second universal joint 2600.

[0105] Reference Figure 1 and Figure 14The first pulley 2130 is provided with a first pulley 2130 for rotating in the second avoidance groove 2122, and the third linkage rope 2500 passes around the first pulley 2130 in the second avoidance groove 2122. The first pulley 2130 reduces the friction of the third linkage rope 2500 when passing through the second avoidance groove 2122, reduces the wear of the third linkage rope 2500, and improves the service life; a first fan-shaped notch 2123 is provided on the outer side of the extended end of the supporting rib 2120, and the third linkage rope 2500 between the third rope winding groove 2281 and the first pulley 2130 passes through the first fan-shaped notch 2123; a rope passing groove 2284 communicating with the first fan-shaped notch 2123 is provided at the end of the first rotating shaft 2282, and a second fan-shaped notch 2283 is also provided on the first rotating shaft 2282. The second fan-shaped notch 2283 is connected to the rope passing groove 2284 and faces away from the third The centers of the rope winding groove 2281, the first fan-shaped notch 2123 and the second fan-shaped notch 2283 are the axis center of the first rotating shaft 2282. The third linkage rope 2500 between the first fan-shaped notch 2123 and the first pulley 2130 is passed through the rope groove 2284 and the second fan-shaped notch 2283. Through the cooperation of the first fan-shaped notch 2123, the second fan-shaped notch 2283 and the rope groove 2284, when the first universal joint 2200 (second universal joint 2600) rotates around the first rotating connector, the bending point of the third linkage rope 2500 remains at the axis center of the first rotating shaft 2282, and the first fan-shaped notch 2123 and the second fan-shaped notch 2283 prevent the third linkage rope 2500 from being displaced on the support rib 2120 and the first rotating shaft 2282, thereby affecting the linkage accuracy of the third linkage rope 2500. Similarly, a rope passing groove 2284 communicating with the first rope winding groove 2271 is formed at the end of the second rotating shaft 2290. A second fan-shaped notch 2283 is also formed on the second rotating shaft 2290. The second fan-shaped notch 2283 is connected to the rope passing groove 2284 and faces away from the first rope winding groove 2271. The first linkage rope 1500 between the first rope winding groove 2271 and the adjacent arm segment 1000 is passed through the rope passing groove 2284 and the second fan-shaped notch 2283. Figure 15 As shown, the second articulated arm 1100 at the end of the arm segment 1000 rotatably connected to the second rotating shaft 2290 includes an arm rod 1110 and a disk portion 1120 respectively connected to the first end and the second end of the arm rod 1110, and two second rotating connecting members 1130 are symmetrically provided on the disk portion 1120. The second articulated arm 1100 is rotatably connected to the second rotating connecting member 1130 and the second rotating shaft 2290 through the second rotating connecting member 1130, and the second rotating connecting member 1130 is provided with a third fan-shaped, and the third fan-shaped notch 1134 is communicated with the second fan-shaped notch 2283 and the rope groove 2284 at the end of the second rotating shaft 2290. The first linkage rope 1500 between the first rope winding groove 2271 and the disk portion 1120 is passed through the third fan-shaped notch 1134 and the second fan-shaped notch 2283 and the rope groove 2284 at the end of the second rotating shaft 2290.

[0106] Reference Figure 15 、 Figure 17 and Figure 18 It should be mentioned that in the second joint arm 1100, a second through-hole 1112 is provided on the arm rod 1110 for the first linkage rope 1500 and the third linkage rope 2500 to pass through and be fixed to, and second through-holes 1122 are provided on the two disk parts 1120 on the outer sides of the two second rotating connecting parts 1130. The second through-holes 1122 correspond to the first rope winding groove 2271 and the fourth rope winding groove 1261, and a guide rope hose 1700 is cross-provided between the second through-holes 1122 of the two disk parts 1120. The first linkage rope 1500 wrapped between the first rope winding groove 2271 of the first universal joint 2200 (second universal joint 2600) and the fourth rope winding groove 1261 of the third universal joint 1200 passes through the second through-hole 1122 and the guide rope hose 1700. Specifically, the cross-arranged guide rope hose 1700 enables the first linkage rope 1500 to pass through the second through hole 1122 180 degrees opposite between the two disks 1120 of the second articulated arm 1100 and then wrap around the arm rod 1110 in an S shape, thereby improving smoothness and avoiding wear of the first linkage rope 1500, and ensuring that the length of the first linkage rope 1500 between the two disks 1120 remains unchanged.

[0107] The disk portion 1120 is provided with a third through hole 1123 on the inner side of the two second rotating connecting parts 1130. The third through hole 1123 corresponds to the second rope winding groove 2231 and the fifth rope winding groove 1251 respectively. The second linkage rope 1600 wound between the first universal joint 2200 (second universal joint 2600) and the third universal joint 1200 is passed through the third through hole 1123.

[0108] In addition, both ends of the guide rope hose 1700 are connected to the disc portion 1120 respectively.

[0109] Reference Figures 1 to 3The first universal joint 2200 and the second universal joint 2600 are hollow inside, the first rotating shaft 2282 and the second rotating shaft 2290 are hollow inside, and the two angle sensing devices 1300 are respectively arranged on the first universal joint 2200 and the second universal joint 2600. The angle sensing device 1300 includes: an encoder 1310, which is respectively arranged inside the first universal joint 2200 and the second universal joint 2600, and has an input shaft 1320 extending into the hollow first rotating shaft 2282 and the second rotating shaft 2290; a connecting block 1330, one end of the connecting block 1330 is fixed to the input shaft 1320, and the other end is fixed to the support rib 2120 or the end of the adjacent arm segment 1000. Specifically, the two angle sensors can respectively sense and calculate the rotation angles of the first articulated arm 2100 and the second articulated arm 1100 at the end of the arm segment 1000 with the first rotation axis 2282 and the second rotation axis 2290 of the first universal joint 2200 (second universal joint 2600), and the rotation angle is defined as the relative angle between the support rib 2120 connected to the input shaft 1320 or the end of the adjacent arm segment 1000 and the first universal joint 2200 (second universal joint 2600).

[0110] It should be mentioned that in the extension direction of the robotic arm, an angle sensing device 1300 is provided in the third universal joint 1200 in the arm segment 1000, and the installation position of the angle sensing device 1300 is distributed in a spiral manner, that is, with each progressive universal joint, the dark rotation position of the angle sensing device 1300 is staggered by 90 degrees to maintain the overall balance of the robotic arm.

[0111] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may be modified and varied in various ways.

Claims

1. A linkage adjustment structure (2000), characterized in that: include: First joint arm (2100); A first universal joint (2200) and a second universal joint (2600), wherein a first rotation axis (2282) of the first universal joint (2200) is rotationally connected to a first end of the first joint arm (2100), and a first rotation axis (2282) of the second universal joint (2600) is rotationally connected to a second end of the first joint arm (2100), and the first universal joint (2200) and the second universal joint (2600) are symmetrically distributed; a first adjustment structure, comprising a first arc-shaped portion disposed on the first universal joint (2200) and the second universal joint (2600) and close to the first joint arm (2100), a first slider (2400) corresponding to each first arc-shaped portion and movably disposed on the first joint arm (2100), and a first linkage rope (1500) having one end passing around the first arc-shaped portion and connected to the first slider (2400), wherein a distance is provided between the center of the first arc-shaped portion and the center point of the first universal joint (2200), the first linkage rope (1500) is wound along the rotation direction of the first rotation axis (2282) of the first universal joint (2200), and the movement direction of the first slider (2400) is perpendicular to the first rotation axis (2282); A second adjustment structure comprises a second slider (2250) movably arranged on the first universal joint (2200) or the second universal joint (2600) and a second linkage rope (1600) having one end fixedly connected to the first boss (2230) on the first universal joint (2200) or the second universal joint (2600), wherein the second linkage rope (1600) is wound along the rotation direction of the second rotation axis (2290) of the first universal joint (2200), the movement direction of the second slider (2250) is perpendicular to the second rotation axis (2290) of the first universal joint (2200), and the second rotation axis (2290) is perpendicular to the first rotation axis (2282); and The first linkage structure (2300) is arranged between the first universal joint (2200) and the second universal joint (2600), and the first linkage structure (2300) enables the first universal joint (2200) and the second universal joint (2600) to rotate at equal angles in opposite directions along the first rotation axis (2282).

2. The linkage adjustment structure (2000) according to claim 1, characterized in that: The first arc-shaped portion comprises a first arc-shaped frame (2270) arranged at one end of the first universal joint (2200) close to the first articulated arm (2100) and a first arc-shaped frame (2270) at one end of the second universal joint (2600) close to the first articulated arm (2100), a first rope winding groove (2271) being arranged on the first arc-shaped frame (2270) along the axial direction of the second rotating shaft (2290), and the first linkage rope (1500) being wound in the first rope winding groove (2271); A first adjustment slot (2112) is provided on the first joint arm (2100) along the extension direction of the first rope winding slot (2271), and the first sliding block (2400) is displaced along the first adjustment slot (2112).

3. The linkage adjustment structure (2000) according to claim 2, characterized in that: The first articulated arm (2100) comprises: disc(2110); a first rotating connection member, respectively provided at the first end and the second end of the disc (2110); The first rotating shaft (2282) of the first universal joint (2200) is connected to the first rotating connection member at the first end of the disk (2110), and the first rotating shaft (2282) of the second universal joint (2600) is connected to the first rotating connection member at the second end of the disk (2110); The disc (2110) is provided with a first avoidance groove (2113) at a position corresponding to the first arc-shaped frame (2270) in the first universal joint (2200) and the second universal joint (2600) along the direction of the first rope winding groove (2271); The first adjustment groove (2112) is provided on both sides of the first avoidance groove (2113) on the disc (2110); The first slider (2400) corresponding to the first arc frame (2270) in the first universal joint (2200) is arranged at the second end of the disc (2110), and the first slider (2400) corresponding to the first arc frame (2270) in the second universal joint (2600) is arranged at the first end of the disc (2110), and the two first sliders (2400) are respectively slidably engaged with at least one first avoidance groove (2113) through the guide portion (2430); A first through-hole (2410) is provided at a position of the first sliding block (2400) corresponding to the first avoidance groove (2113); an end portion of the first linkage rope (1500) that passes around the first rope winding groove (2271) passes through the first avoidance groove (2113) and the first through-hole (2410) and is fixedly connected to the first sliding block (2400); The first sliding block (2400) is provided with a locking portion (2440) fixedly connected to the disc (2110).

4. The linkage adjustment structure (2000) according to claim 1, characterized in that: Four first mounting surfaces (2210) are provided on the outer sides of the first universal joint (2200) and the second universal joint (2600) along both ends of the first rotation axis (2282) and the second rotation axis (2290); The second adjustment structure further includes: An adjustment bracket (2240) is arranged on the first mounting surface (2210) corresponding to the end of the second rotating shaft (2290); A second adjustment slot (2241) is provided on the adjustment bracket (2240) in a direction perpendicular to the second rotation axis (2290); At least a portion of the second sliding block (2250) is slidably engaged with the second adjustment slot (2241).

5. The linkage adjustment structure (2000) according to claim 4, characterized in that: The second adjustment structure further includes: a first boss (2230) provided on the first mounting surface (2210) corresponding to the end of the second rotating shaft (2290); a second rope winding groove (2231) formed on the outer periphery of the first boss (2230); The second pulley (2260) connected to the second slider (2250) is rotated, and the end of the second linkage rope (1600) is passed around the second pulley (2260) and the second rope winding groove (2231) in sequence and is fixed to the first boss (2230).

6. The linkage adjustment structure (2000) according to claim 3, characterized in that: The disc (2110) is provided with a linkage hole (2111), the inner side of the linkage hole (2111) is connected to a support rib (2120), and the first rotating connection member includes an extension end of the support rib (2120) extending toward the first end and the second end of the disc (2110); The first linkage structure (2300) comprises: A first sector tooth (2310) connected to a first mounting surface (2210) at the end of the first rotating shaft (2282) corresponding to the first universal joint (2200); A second sector tooth (2320) is connected to a first mounting surface (2210) corresponding to the end of the first rotating shaft (2282) of the second universal joint (2600); The first sector-shaped teeth (2310) and the second sector-shaped teeth (2320) are meshingly connected.

7. A rope-driven segmented linkage flexible robotic arm, characterized in that: include: At least two arm segments (1000) and the linkage adjustment structure (2000) as claimed in claim 6, wherein the linkage adjustment structure (2000) is arranged between the two arm segments (1000); The second rotation axes (2290) of the first universal joint (2200) and the second universal joint (2600) are respectively rotatably connected to the ends of the adjacent arm segments (1000); The other ends of the first linkage rope (1500) and the second linkage rope (1600) are both connected to the adjacent arm segment (1000).

8. The rope-driven segmented linkage flexible robotic arm according to claim 7, characterized in that: The linkage adjustment structure (2000) further comprises a second linkage structure, wherein the second linkage structure comprises: a second arc-shaped frame (2280) respectively arranged on the first universal joint (2200) and the second universal joint (2600) and away from the first joint arm (2100); a third rope winding groove (2281) is arranged on the second arc-shaped frame (2280) along the axial direction of the first rotation axis (2282); a second avoidance groove (2122) provided on the supporting rib (2120), the second avoidance groove (2122) being located between the first rotating shaft (2282) and the disc (2110), and the second avoidance groove (2122) corresponding to the third rope winding groove (2281); an avoidance hole (2312) provided on the first sector-shaped tooth (2310) and the second sector-shaped tooth (2320), the avoidance hole (2312) corresponding to the second avoidance groove (2122); and The ends are respectively connected to the third linkage ropes (2500) of the adjacent arm segments (1000); the third linkage ropes (2500) pass through the linkage hole (2111), the avoidance hole (2312), and the second avoidance groove (2122) in sequence and respectively bypass the third rope winding groove (2281) of the first universal joint (2200) or the second universal joint (2600) along the opposite rotation direction of the second rotation axis (2290).

9. The rope-driven segmented linkage flexible robotic arm according to claim 8, characterized in that: A first pulley (2130) is rotatably provided in the second avoidance groove (2122), and the third linkage rope (2500) passes around the first pulley (2130) in the second avoidance groove (2122); A first fan-shaped notch (2123) is provided on the outer side of the extended end of the support rib (2120), and a third linkage rope (2500) between the third rope winding groove (2281) and the first pulley (2130) is passed through the first fan-shaped notch (2123); A rope groove (2284) communicating with the first fan-shaped notch (2123) is provided at the end of the first rotating shaft (2282); a second fan-shaped notch (2283) is further provided on the first rotating shaft (2282); the second fan-shaped notch (2283) is connected to the rope groove (2284) and faces away from the third rope winding groove (2281); a third linkage rope (2500) between the first fan-shaped notch (2123) and the first pulley (2130) is passed through the rope groove and the second fan-shaped notch (2283); A rope passing groove (2284) communicating with the first rope winding groove (2271) is provided at the end of the second rotating shaft (2290). A second fan-shaped notch (2283) is also provided on the second rotating shaft (2290). The second fan-shaped notch (2283) is connected to the rope passing groove (2284) and faces away from the first rope winding groove (2271). The first linkage rope (1500) between the first rope winding groove (2271) and the adjacent arm segment is passed through the rope passing groove (2284) and the second fan-shaped notch (2283).

10. The rope-driven segmented linkage flexible robotic arm according to claim 8, characterized in that: The first universal joint (2200) and the second universal joint (2600) are hollow inside, the first rotating shaft (2282) and the second rotating shaft (2290) are hollow inside, and two angle sensing devices (1300) are respectively arranged on the first universal joint (2200) and the second universal joint (2600), and the angle sensing devices (1300) include: An encoder (1310), the encoder (1310) being disposed inside the first universal joint (2200) and the second universal joint (2600), and having an input shaft (1320) extending into the hollow first rotating shaft (2282) and the second rotating shaft (2290); A connecting block (1330), one end of the connecting block (1330) is fixedly connected to the input shaft (1320), and the other end is fixedly connected to the supporting rib (2120) or the end of the adjacent arm segment (1000).

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