A two-degree-of-freedom linkage joint of a rope-driven manipulator based on rack and pinion transmission

Abstract

The present invention relates to a two-degree-of-freedom linkage joint of a rope-driven manipulator based on a gear rack transmission, comprising a linkage arm; movable arms provided at both ends of the linkage arm; a joint structure provided at both ends of the linkage arm, the joint structure comprising a universal joint, a first gear, and a second gear, the linkage arm being rotationally connected to the movable arm via the universal joint, the first gear and the second gear being driven by the movable arm; a first meshing linkage structure provided on the linkage arm, connected to each first gear and allowing different first gears to rotate synchronously and in opposite directions through it; and a second meshing linkage structure provided on the linkage arm, connected to each second gear and allowing different second gears to rotate synchronously and in opposite directions through it. The decoupling of pitch and yaw motions and the transmission of motions in all directions are achieved, and the pitch and yaw motions of the movable arms at both ends of the linkage arm can be linked in completely consistent, opposite, and equal-angled directions, thereby achieving high-precision transmission between the joints.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a two-degree-of-freedom linkage joint of a rope-driven robotic arm based on gear rack transmission. Background Art

[0002] Different from traditional rigid and flexible manipulators, the rope-driven segmented linkage manipulator is a new type of rigid-flexible hybrid manipulator. It combines the high rigidity and precision of a rigid manipulator with the compliance and safety of a flexible manipulator. Furthermore, its active-passive hybrid drive structure significantly improves the manipulator's range of motion and flexibility, while reducing the number of drive motors. However, existing rope-driven segmented linkage manipulators primarily use flexible linkage ropes as passive transmission components, resulting in low transmission accuracy and large linkage errors between joints. This makes them unsuitable for high-precision applications and difficult to meet user requirements. Summary of the Invention

[0003] The present invention provides a two-degree-of-freedom linkage joint of a rope-driven manipulator based on rack and pinion transmission, aiming to solve at least one of the technical problems existing in the prior art.

[0004] The technical solution of the present invention is a two-degree-of-freedom linkage joint of a rope-driven robotic arm based on gear rack transmission, which includes: a linkage arm; a group of movable arm rods, which are respectively arranged at both ends of the linkage arm rod; a group of joint structures, which are respectively arranged at both ends of the linkage arm rod, each joint structure including a universal joint, a first gear and a second gear, the rotating shaft of the first gear is basically perpendicular to the rotating shaft of the second gear, wherein, at the same end of the linkage arm rod, the linkage arm rod is rotatably connected to the movable arm rod through the universal joint of the joint structure, and the first gear and the second gear of the joint structure are both driven and connected by the movable arm rod; a first meshing linkage structure, which is arranged on the linkage arm rod, the first meshing linkage structure is connected to the first gear of each joint structure, and allows the first gears of different joint structures to rotate synchronously and turn in opposite directions through the first meshing linkage structure; a second meshing linkage structure, which is arranged on the linkage arm rod, the second meshing linkage structure is connected to the second gear of each joint structure, and allows the second gears of different joint structures to rotate synchronously and turn in opposite directions through the second meshing linkage structure.

[0005] Furthermore, the first meshing linkage structure includes a first rack, a second rack and a first synchronous structure, the first rack and the second rack are slidably arranged on the linkage arm, the first rack and the second rack are respectively connected to the first synchronous structure, and allow the first rack and the second rack to move in the same direction, wherein the teeth of the first rack and the second rack are relative or opposite to each other, and the first rack and the second rack respectively mesh with the first gear of different joint structures; the second meshing linkage structure includes a third rack, a fourth rack and a second synchronous structure, the third rack and the fourth rack are slidably arranged on the linkage arm, the third rack and the fourth rack are respectively connected to the second synchronous structure, and allow the third rack and the fourth rack to move in the same direction, wherein the teeth of the third rack and the fourth rack are relative or opposite to each other, and the third rack and the fourth rack respectively mesh with the second gear of different joint structures.

[0006] Furthermore, the first synchronization structure includes two third gears meshing with each other, the two third gears respectively meshing with the first rack and the second rack, and the rotation axis of the third gear is basically parallel to the rotation axis of the first gear; the second synchronization structure includes two fourth gears meshing with each other, the two fourth gears respectively meshing with the third rack and the fourth rack, and the rotation axis of the fourth gear is basically parallel to the rotation axis of the second gear.

[0007] The linkage arm includes: a cylinder; a support plate, which is connected to the cylinder; a support frame, which is connected to the cylinder, and at the same end of the support frame, the end of the support frame is rotatably connected to the movable arm through a universal joint of a joint structure; wherein the first rack and the second rack are both slidably set on the support plate, and the third gear is rotatably connected to the support plate; the third rack and the fourth rack are both slidably set on the inner wall of the cylinder, and the fourth gear is rotatably connected to the inner wall of the cylinder.

[0008] Furthermore, a first guide member and a second guide member are respectively provided on the support plate, the first rack slides in the guide groove of the first guide member, and the second rack slides in the guide groove of the second guide member; a third guide member and a fourth guide member are respectively provided on the inner wall of the cylinder, the third rack slides in the guide groove of the third guide member, and the fourth rack slides in the guide groove of the fourth guide member.

[0009] Furthermore, two first articulated seats are relatively arranged at the end of the movable arm near the universal joint; two second articulated seats are relatively arranged at both ends of the support frame; the universal joint includes a first rotating shaft and a second rotating shaft that are basically perpendicular to each other. At the same end of the support frame, the first rotating shaft and the two first articulated seats of the movable arm are rotatably connected, and the second rotating shaft and the two second articulated seats at the end of the support frame are rotatably connected; the first rotating shafts of the universal joints at both ends of the support frame are basically parallel to each other.

[0010] Furthermore, the first gear is arranged in the middle of the two first hinged seats, and the universal joint also includes a avoidance part for avoiding the first gear, the avoidance part is eccentrically connected to the second rotating shaft, the first rotating shaft is arranged at both ends of the avoidance part, and the first rotating shafts at both ends intersect vertically at the midpoint of the second rotating shaft; the second gear is fixedly connected to the first rotating shaft.

[0011] Furthermore, the movable arm includes a gear mounting frame extending toward the inner side of the avoidance portion, and the gear mounting frame is provided with a third rotating shaft coaxial with the first rotating shaft; an avoidance hole is provided on the first gear, and a rotating hole is provided on the inner side of the avoidance hole. The first gear is arranged outside the second rotating shaft through the avoidance hole and is rotatably connected to the third rotating shaft through the rotating hole, wherein the inner diameter of the avoidance hole is larger than the outer diameter of the second rotating shaft.

[0012] Furthermore, the end of the support plate extends between the first gear and the inner side of the avoidance portion, and a gap is opened at the end of the support plate to avoid the second rotating shaft; a magnetic part is provided on the end of the support plate, the magnetic part is in contact with the side of the first gear close to the support plate, and the magnetic part and the first gear are magnetically connected.

[0013] Furthermore, a first through-hole is provided along the circumference of the end of the movable arm rod near the universal joint; a disk portion is fixedly connected to the outer circumference of the cylinder portion, and a second through-hole is provided on the disk portion along the circumference, and the distance between the end face of the disk portion and the center point of the universal joint corresponding to the end face is basically equal to the distance between the center point of the universal joint and the end of the movable arm rod corresponding to the end face; a drive rope is passed through the first through-hole and the second through-hole.

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

[0015] The two-degree-of-freedom linkage joint of a rope-driven robotic arm based on gear rack transmission proposed in the present invention can, through the pure rigidity transmission of the gear rack between the joint structure, the first meshing linkage structure and the second meshing linkage structure, link the pitch and yaw degrees of freedom movements of the movable arm at one end of the linkage arm to the movable arm at the other end of the linkage arm in completely consistent and opposite directions at equal angles, thereby overcoming the transmission error caused by the flexible rope when the linkage joint is driven by the driving rope, and realizing high-precision transmission between the joints.

[0016] In addition, additional aspects and advantages of the present invention will be set forth in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a general schematic diagram according to an embodiment of the present invention.

[0018] Figure 2 FIG. 2 is a partial structural diagram according to an embodiment of the present invention.

[0019] Figure 3FIG. 2 is a partial structural exploded view according to an embodiment of the present invention.

[0020] Figure 4 is a cross-sectional view according to an embodiment of the present invention.

[0021] Figure 5 It is a partial structural front view according to an embodiment of the present invention.

[0022] Figure 6 It is a partial structural left view according to an embodiment of the present invention.

[0023] Figure 7 It is a partial structural right view according to an embodiment of the present invention.

[0024] The above drawings contain the following reference numerals.

[0025] 100, linkage arm; 110, first hinge seat; 120, first through-hole;

[0026] 200, joint structure; 210, universal joint; 211, avoidance portion; 212, first rotating shaft; 213, second rotating shaft; 220, first gear; 221, avoidance hole; 222, rotating hole; 230, second gear;

[0027] 300, linkage arm; 310, cylinder; 320, support frame; 321, second hinge seat; 330, support plate; 331, notch; 340, disk; 341, second through-hole; 350, angle bracket;

[0028] 400, gear mounting frame; 410, third rotating shaft;

[0029] 500, magnetic parts;

[0030] 600, first meshing linkage structure; 610, first rack; 620, second rack; 630, third gear; 650, first guide member; 660, second guide member;

[0031] 700 , second meshing linkage structure; 710 , third rack; 720 , fourth rack; 730 , fourth gear; 750 , third guide member; 760 , fourth guide member. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Reference Figure 1 and Figure 2 In some embodiments, a two-degree-of-freedom linkage joint of a rope-driven manipulator based on a rack and pinion transmission according to the present invention includes a linkage arm 300, a set of movable arms 100, a set of joint structures 200, a first meshing linkage structure 600, and a second meshing linkage structure 700. Preferably, the set of movable arms 100 is two, and the set of joint structures 200 is two joint structures 200. At the same end of the linkage arm 300, the linkage arm 300 is rotationally connected to a movable arm 100 via a joint structure 200, that is, both ends of the linkage arm 300 are rotationally connected to a movable arm 100. The movable arms 100 achieve equal-angle linkage in opposite directions through the rigid cooperation of the joint structures 200, the first meshing linkage structure 600, and the second meshing linkage structure 700.

[0037] Reference Figures 3 to 7 Two first articulated seats 110 are provided at the end of the movable arm 100, and the joint structure 200 includes a universal joint 210 and a first gear 220 and a second gear 230 driven and connected by the movable arm 100. The universal joint 210 includes an avoidance part 211, a first rotating shaft 212 and a second rotating shaft 213. The first rotating shaft 212 is connected to both ends of the avoidance part 211 and is rotatably connected to the linkage arm 300. The second rotating shaft is rotatably connected to the two first articulated seats 110. The avoidance part 211 is eccentrically connected to the second rotating shaft 213. The first rotating shafts 212 at both ends of the avoidance part 211 are coaxial, and the first rotating shaft 212 intersects vertically at the midpoint of the second rotating shaft 213.

[0038] Reference Figure 3 and Figure 4 The first gear 220 is provided with an avoidance hole 221, and a rotation hole 222 is provided on the inner side of the avoidance hole 221. The first gear 220 is sleeved on the outside of the second rotating shaft 213 through the avoidance hole 221. The movable arm 100 is extended toward the inner side of the avoidance portion 211 to provide a gear mounting frame 400, and the end of the gear mounting frame 400 extends into the avoidance hole 221. The gear mounting frame 400 located in the avoidance hole 221 is provided with a third rotating shaft 410 coaxial with the first rotating shaft 212. The first gear 220 is rotatably connected to the third rotating shaft 410 through the rotation hole 222 and is arranged in a recessed position on the inner side of the avoidance portion 211 and is located in the middle position of the two first hinge seats 110. When the movable arm 100 rotates around the second rotating shaft 213 of the universal joint 210 (i.e., movement in the pitch direction), the first gear 220 is driven by the third rotating shaft 410 of the gear mounting frame 400 to rotate synchronously around the second rotating shaft 213. When the movable arm 100 drives the universal joint 210 to rotate around the first rotating shaft 212 of the universal joint 210 (i.e., movement in the yaw direction), since the third rotating shaft 410 and the first rotating shaft 212 are coaxial and the first gear 220 is located between the two first articulated seats 110, the first gear 220 will not be driven by the yaw movement of the movable arm 100 to swing, and can maintain the meshing connection with the first meshing linkage structure 600.

[0039] Specifically, the inner diameter of the avoidance hole 221 is larger than the outer diameter of the second rotating shaft 213 and larger than the outer diameter of the end of the gear mounting frame 400, so as to prevent the first gear 220 from interfering with the gear mounting frame 400 and the second rotating shaft 213 when the movable arm 100 yaws.

[0040] In addition, the gear mounting frame 400 extending from the movable arm 100 toward the avoidance hole 221 is preferably fixed on the first hinge seat 110 on one side, and the gear mounting frame 400 is rotatably connected to the second rotating shaft 213, effectively strengthening the structural strength of the gear mounting frame 400 and avoiding the jumping phenomenon when the first gear 220 rotates.

[0041] Reference Figure 2 、 Figure 4 and Figure 5 The second gear 230 is fixedly connected to the first rotating shaft 212 at one end of the avoidance portion 211 and rotates with the rotation of the first rotating shaft 212. Since the first rotating shaft 212 and the second rotating shaft 213 of the same universal joint 210 are basically perpendicular to each other, in the same joint structure 200, the rotating shafts of the first gear 220 and the second gear 230 are basically perpendicular to each other.

[0042] Reference Figure 2The two first gears 220 of the joint structure 200 at both ends of the linkage arm 300 rotate synchronously and in opposite directions through the first meshing linkage structure 600, thereby realizing the pitch direction linkage of the movable arms 100 at both ends of the linkage arm 300; the two second gears 230 at both ends of the linkage arm 300 rotate synchronously and in opposite directions through the second meshing linkage structure 700, thereby realizing the yaw direction linkage of the movable arms 100 at both ends of the linkage arm 300.

[0043] Reference Figure 4 The linkage arm 300 includes a cylinder 310 and a support plate 330 and a support frame 320, both of which are fixedly connected in the cylinder 310. Two second hinge seats 321 are relatively provided at both ends of the support frame 320. At one end of the support frame 320, the first rotating shafts 212 at both ends of the avoidance portion 211 are respectively rotatably connected to the two second hinge seats 321, and the first rotating shafts 212 of the second hinge seats 321 at both ends of the support frame 320 are basically parallel to each other.

[0044] Reference Figure 4 The support plate 330 is parallel to the first rotating shaft 212, and both sides of the support plate 330 close to the inner wall of the cylinder 310 are fixedly connected to the inner wall of the cylinder 310. The end of the support plate 330 extends between the first gear 220 and the inner side of the avoidance portion 211. The end of the support plate 330 is provided with a notch 331 for avoiding the second rotating shaft 213. The notch 331 can prevent the support plate 330 from interfering with the second rotating shaft 213. A magnetic member 500 is provided on the end of the support plate 330. The magnetic member 500 is in contact with the side of the first gear 220 close to the support plate 330, and the magnetic member 500 is magnetically connected to the first gear 220, further limiting the deflection of the first gear 220, avoiding the first gear 220 from slightly deflecting when the movable arm 100 rotates around the second rotating shaft 213, and causing the first gear 220 and the first rack 610 to collide with each other, thereby improving the meshing accuracy.

[0045] Specifically, the first gear 220 is made of a magnetic material, and the magnetic member 500 is a hollow magnet ring sleeved outside the second rotating shaft 213. Figure 3 As shown, the cross section of the hollow magnet ring is rectangular.

[0046] In addition, in order to improve the rotation accuracy of the second gear 230, as shown in FIG. Figure 1 and Figure 3 As shown, the first rotating shaft 212 extends toward the cylinder 310 and is rotatably connected to the cylinder 310 , and the second gear 230 is connected between the second hinge seat 321 and the inner wall of the cylinder 310 .

[0047] The main body of the support frame 320 is fixedly connected to the inner wall of one side of the cylinder 310, and its second hinge seat 321 is extended from both ends to the middle of the two opposite side walls of the cylinder 310, further improving the structural strength of the entire support frame 320 and avoiding transmission accuracy caused by force distortion during linkage.

[0048] Reference Figure 3 and Figure 5 In an embodiment of the present invention, the first meshing linkage structure 600 of the present invention preferably adopts a first synchronous structure composed of a first rack 610, a second rack 620 and two mutually meshing third gears 630 to realize meshing transmission. Specifically, a first guide member 650 and a second guide member 660 are respectively provided on the support plate 330. The first guide member 650 and the second guide member 660 have guide grooves in the same direction. The first rack 610 slides in the guide groove of the first guide member 650, and the second rack 620 slides in the guide groove of the second guide member 660. The mutually meshing third gears 630 are rotatably connected to a surface of the support plate 330 close to the first gear 220, and the rotating shaft of the third gear 630 is substantially parallel to the rotating shaft of the first gear 220. In an embodiment of the present invention, the first rack 6 10 and the second rack 620 preferably have teeth facing each other, the first rack 610 meshes with the first gear 220 and the third gear 630 at the same end of the linkage arm 300, and the second rack 620 meshes with the first gear 220 and the third gear 630 at the other end of the linkage arm 300, so that when one of the first gears 220 rotates in the first clockwise direction, the third gear 630 at the corresponding end is driven to rotate in the first clockwise direction through the first rack 610, and then the other third gear 630 is driven to rotate in the second clockwise direction. The third gear 630 rotating in the second clockwise direction drives the other first gear 220 to rotate in the second clockwise direction through the second rack 620, and the rotation angle is consistent with the rotation angle of the first first gear 220. Specifically, the first clockwise direction is the opposite rotation direction of the second clockwise direction.

[0049] Similarly, refer to Figure 3 and Figure 6, in an embodiment of the present invention, the second meshing linkage structure 700 of the present invention preferably adopts a second synchronous structure consisting of a third rack 710, a fourth rack 720 and two mutually meshing fourth gears 730 to realize meshing transmission. Specifically, a third guide member 750 and a fourth guide member 760 are respectively provided on the inner wall of the cylinder 310. The third guide member 750 and the fourth guide member 760 have guide grooves in the same direction. The third rack 710 slides in the guide groove of the third guide member 750, and the fourth rack 720 slides in the guide groove of the fourth guide member 760. The mutually meshing fourth gear 730 is rotatably connected to a surface of the inner wall of the cylinder 310 close to the second gear 230, and the rotating shaft of the fourth gear 730 is substantially parallel to the rotating shaft of the second gear 230. In the embodiment of the present invention, the third rack 710 and the fourth rack 720 preferably have opposite teeth, the third rack 710 meshes with the second gear 230 and the fourth gear 730 at the same end of the linkage arm 300, and the fourth rack 720 meshes with the second gear 230 and the fourth gear 730 at the other end of the linkage arm 300, so that when one of the second gears 230 rotates in the third clockwise direction, the fourth gear 730 at the corresponding end is driven to rotate in the third clockwise direction through the second rack 620, and then the other fourth gear 730 is driven to rotate in the fourth clockwise direction. The fourth gear 730 rotating in the fourth clockwise direction drives the other second gear 230 to rotate in the fourth clockwise direction through the fourth rack 720, and the rotation angle is consistent with the rotation angle of the first second gear 230. Specifically, the third clockwise direction is the opposite rotation direction of the fourth clockwise direction.

[0050] It is worth mentioning that, referring to Figure 1 In order to enable the two-degree-of-freedom linkage joint of the embodiment of the present invention to be driven in the rope-driven robotic arm, a first through-hole 120 is provided along the circumference of the end of the movable arm 100 near the universal joint 210; the outer periphery of the cylinder 310 is fixedly connected to a disk portion 340, and a second through-hole 341 is provided on the disk portion 340 along the circumference. A group of at least three driving ropes of the robotic arm (not shown in the drawings) pass through the first through-hole 120 of one of the movable arm rods 100 in the direction of the robotic arm, and then pass through the second through-hole 341 of the disk portion 340 and the first through-hole 120 of another movable arm rod 100 in turn, and are fixed to other parts of the robotic arm, or the end of the driving rope is knotted and fixed to the first through-hole 120 of one of the movable arm rods 100, and the movement of the linkage joint is realized by the driving rope.

[0051] Specifically, the distance between the end surface of the disk portion 340 and the center point of the universal joint 210 corresponding to that end surface is substantially equal to the distance between the center point of the universal joint 210 and the end of the movable arm 100 corresponding to that end surface. This ensures that the drive rope length between each first through-hole 120 and the second through-hole 341 is consistent, ensuring linkage accuracy. In a preferred embodiment of the present invention, two disk portions 340 are included, and the distance between the end surface of each disk portion 340 corresponding to the movable arm 100 and the center point of the universal joint 210 corresponding to that end surface is substantially equal to the distance between the center point of the universal joint 210 and the end of the movable arm 100 corresponding to that end surface.

[0052] In addition, the two disc portions 340 are fixedly connected to the outer periphery of the cylindrical portion 310 via a plurality of angle brackets 350 .

[0053] 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 two-degree-of-freedom linkage joint of a rope-driven manipulator based on a rack and pinion transmission, characterized in that: include: Linkage arm (300); A group of movable arm rods (100), wherein the movable arm rods (100) are respectively arranged at both ends of the linkage arm rod (300); A group of joint structures (200), wherein the joint structures (200) are respectively arranged at both ends of the linkage arm (300), each joint structure (200) comprises a universal joint (210), a first gear (220) and a second gear (230), wherein the rotation axis of the first gear (220) is substantially perpendicular to the rotation axis of the second gear (230), wherein at the same end of the linkage arm (300), the linkage arm (300) is rotationally connected to the movable arm (100) through the universal joint (210) of the joint structure (200), and the first gear (220) and the second gear (230) of the joint structure (200) are both driven and connected by the movable arm (100); a first meshing linkage structure (600), the first meshing linkage structure (600) being arranged on the linkage arm (300), the first meshing linkage structure (600) being connected to the first gear (220) of each joint structure (200), and allowing the first gears (220) of different joint structures (200) to rotate synchronously and in opposite directions through the first meshing linkage structure (600); A second meshing linkage structure (700) is provided on the linkage arm (300), the second meshing linkage structure (700) is connected to the second gear (230) of each joint structure (200), and allows the second gears (230) of different joint structures (200) to rotate synchronously and in opposite directions through the second meshing linkage structure (700).

2. The two-degree-of-freedom linkage joint of the rope-driven manipulator based on gear rack transmission according to claim 1 is characterized in that: The first meshing linkage structure (600) includes a first rack (610), a second rack (620) and a first synchronization structure, wherein the first rack (610) and the second rack (620) are slidably arranged on the linkage arm (300), the first rack (610) and the second rack (620) are respectively connected to the first synchronization structure, and allow the first rack (610) and the second rack (620) to move in the same direction, wherein the teeth of the first rack (610) and the second rack (620) are opposite or opposite to each other, and the first rack (610) and the second rack (620) respectively mesh with the first gear (220) of different joint structures (200); The second meshing linkage structure (700) includes a third rack (710), a fourth rack (720) and a second synchronization structure, wherein the third rack (710) and the fourth rack (720) are slidably arranged on the linkage arm (300), and the third rack (710) and the fourth rack (720) are respectively connected to the second synchronization structure, and allow the third rack (710) and the fourth rack (720) to move in the same direction, wherein the teeth of the third rack (710) and the fourth rack (720) are relative or opposite, and the third rack (710) and the fourth rack (720) respectively mesh with the second gear (230) of different joint structures (200).

3. The two-degree-of-freedom linkage joint of the rope-driven manipulator based on gear rack transmission according to claim 2 is characterized in that: The first synchronization structure includes two third gears (630) meshing with each other, the two third gears (630) respectively meshing with the first rack (610) and the second rack (620), and the rotation axis of the third gear (630) is substantially parallel to the rotation axis of the first gear (220); The second synchronization structure includes two fourth gears (730) meshing with each other, the two fourth gears (730) respectively meshing with the third rack (710) and the fourth rack (720), and the rotation axis of the fourth gear (730) is substantially parallel to the rotation axis of the second gear (230).

4. The two-degree-of-freedom linkage joint of the rope-driven manipulator based on gear rack transmission according to claim 3 is characterized in that: The linkage arm (300) comprises: a barrel (310); a support plate (330), the support plate (330) being connected inside the barrel (310); A support frame (320), the support frame (320) is connected to the cylinder (310), and at the same end of the support frame (320), the end of the support frame (320) is rotatably connected to the movable arm (100) through the universal joint (210) of the joint structure (200); Wherein, the first rack (610) and the second rack (620) are both slidably arranged on the support plate (330), and the third gear (630) is rotatably connected to the support plate (330); The third rack (710) and the fourth rack (720) are both slidably arranged on the inner wall of the cylinder (310), and the fourth gear (730) is rotationally connected to the inner wall of the cylinder (310).

5. The two-degree-of-freedom linkage joint of the rope-driven manipulator based on gear rack transmission according to claim 4 is characterized in that: The support plate (330) is provided with a first guide member (650) and a second guide member (660), respectively; the first rack (610) is slidably fitted in a guide groove of the first guide member (650), and the second rack (620) is slidably fitted in a guide groove of the second guide member (660); A third guide member (750) and a fourth guide member (760) are respectively provided on the inner wall of the cylinder (310); the third rack (710) is slidably fitted in the guide groove of the third guide member (750); and the fourth rack (720) is slidably fitted in the guide groove of the fourth guide member (760).

6. The two-degree-of-freedom linkage joint of the rope-driven manipulator based on gear rack transmission according to claim 4 is characterized in that: Two first hinged seats (110) are arranged opposite to each other at the end of the movable arm (100) close to the universal joint (210); Two second hinged seats (321) are disposed oppositely at both ends of the support frame (320); The universal joint (210) includes a first rotating shaft (212) and a second rotating shaft (213) that are substantially perpendicular to each other. At the same end of the support frame (320), the first rotating shaft (212) is rotatably connected to two first hinged seats (110) of the movable arm (100), and the second rotating shaft (213) is rotatably connected to two second hinged seats (321) at the end of the support frame (320). The first rotation axes (212) of the universal joints (210) at both ends of the support frame (320) are substantially parallel to each other.

7. The two-degree-of-freedom linkage joint of the rope-driven manipulator based on gear rack transmission according to claim 6 is characterized in that: The first gear (220) is arranged in the middle of the two first hinge seats (110), and the universal joint (210) further includes a relief portion (211) for avoiding the first gear (220), the relief portion (211) is eccentrically connected to the second rotating shaft (213), and the first rotating shaft (212) is arranged at both ends of the relief portion (211), and the first rotating shafts (212) at both ends perpendicularly intersect at the midpoint of the second rotating shaft (213); The second gear (230) is fixedly connected to the first rotating shaft (212).

8. The two-degree-of-freedom linkage joint of the rope-driven manipulator based on gear rack transmission according to claim 7 is characterized in that: The movable arm (100) includes a gear mounting frame (400) extending toward the inner side of the avoidance portion (211), and a third rotating shaft (410) coaxial with the first rotating shaft (212) is provided on the gear mounting frame (400); The first gear (220) is provided with a relief hole (221), and a rotation hole (222) is provided inside the relief hole (221). The first gear (220) is arranged outside the second rotating shaft (213) through the relief hole (221) and is rotationally connected to the third rotating shaft (410) through the rotation hole (222), wherein the inner diameter of the relief hole (221) is larger than the outer diameter of the second rotating shaft (213).

9. The two-degree-of-freedom linkage joint of the rope-driven manipulator based on gear rack transmission according to claim 8 is characterized in that: The end of the support plate (330) extends between the first gear (220) and the inner side of the avoidance portion (211), and a notch (331) for avoiding the second rotating shaft (213) is formed at the end of the support plate (330); A magnetic member (500) is provided on the end of the support plate (330), the magnetic member (500) is in contact with a side of the first gear (220) close to the support plate (330), and the magnetic member (500) and the first gear (220) are magnetically connected.

10. The two-degree-of-freedom linkage joint of a rope-driven manipulator based on gear rack transmission according to claim 4, characterized in that: The end of the movable arm (100) close to the universal joint (210) is provided with a first through hole (120) along the circumference; The outer periphery of the cylindrical portion is fixedly connected to a disk portion, and a second through hole (341) is provided on the disk portion along the circumference thereof. The distance between the end face of the disk portion and the center point of the universal joint (210) corresponding to the end face is substantially equal to the distance between the center point of the universal joint (210) and the end of the movable arm (100) corresponding to the end face. A driving rope is passed between the first through hole (120) and the second through hole (341).

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