A rope-driven robotic arm

Abstract

The present invention discloses a rope-driven manipulator, comprising a manipulator motion mechanism, a decoupling mechanism, a driving mechanism, and a base. The manipulator motion mechanism and the driving mechanism are respectively arranged on either side of the base. The decoupling mechanism is arranged between the manipulator motion mechanism and the base and is connected to the manipulator motion mechanism and the base respectively. The manipulator motion mechanism includes a driving rope. After the decoupling mechanism transfers the driving rope from the manipulator motion mechanism to the base, the driving rope is connected to the driving mechanism. The driving mechanism controls the retraction and extension length of the driving rope. The tension of the driving rope acts on the manipulator motion mechanism through the decoupling mechanism to drive the manipulator motion mechanism to move. The decoupling mechanism of the rope-driven manipulator of the present invention has a simple structure, is easy to expand, and can achieve complete electromechanical separation, thereby achieving complete decoupling of the manipulator motion mechanism and the driving mechanism of the manipulator, significantly reducing the mass and inertia of the moving parts.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a rope-driven robotic arm. Background Art

[0002] As research into robotic arm technology continues to deepen, the performance and application scenarios of robotic arms are constantly expanding, and the types of robotic arms are becoming more refined. To meet the varying performance requirements of robotic arms in different scenarios, robotic arms have undergone numerous innovations in terms of structure and drive methods. Among these, the shift from the motor-driven joints of traditional serial industrial robotic arms to rope-driven rigid arms, which utilize a flexible medium like rope to drive the joints, is one of the key improvements towards safer robotic arms and enhanced human-machine interaction.

[0003] Rope-driven rigid arms utilize a rope for remote actuation. Compared to traditional industrial robotic arms, these arms can centralize electrical components like the drive motor and reducer at the base or shoulder joint. This allows for lighter weight and lower rigidity compared to traditional jointed rigid arms. Furthermore, the flexibility and simplicity of rope-driven joints make these arms ideal for applications requiring high flexibility or in human-robot interaction environments where safety is paramount.

[0004] However, due to the coupling problem caused by rope entanglement, the current rope-driven rigid arm has not fully achieved full-degree-of-freedom electromechanical separation. The shoulder still uses the traditional modular joint solution, and electrical components such as motors, reducers, and drivers are mostly arranged at the shoulder joint end of the robotic arm.

[0005] The coupling problem in the rope-driven manipulator is that when the front joint moves, the rope driving the rear joint will change in length due to being wrapped around the joint, thereby affecting the control of the rear joint, that is, the front joint and the rear joint have a motion coupling problem.

[0006] To address the coupling problem of rope-driven joints, decoupling technology is used to eliminate the length changes of the driving ropes of each rear-end joint when the front-end joint moves.

[0007] Prior art 1: LIMS2 rope-driven rigid arm.

[0008] Professor Kim's team at the LIMS Laboratory in South Korea has designed a high-speed, seven-degree-of-freedom, cable-driven rigid arm. The arm consists of wrist, elbow, and shoulder joints. This technology incorporates a passive decoupling module at the elbow joint to address kinematic coupling issues associated with the drive cable passing through the elbow. Furthermore, the drive motors for the wrist and elbow joints are integrated into the shoulder joint, significantly reducing the arm's mass and inertia.

[0009] The shortcomings of prior art 1 are as follows:

[0010] 1) Complete electromechanical separation is not achieved, and the electrical components are concentrated at the shoulder joint, which increases the mass and inertia of the shoulder joint.

[0011] 2) The rope drive box has a complex structure and is difficult to install, and it is inconvenient to pre-tighten the rope.

[0012] Prior art 2: built-in follow-up module decoupling mechanism.

[0013] A follow-up module is designed on the joint so that when the joint moves, it can drive the structure wrapped with the rope to move together, thereby changing the coupling length of the rope and achieving passive decoupling.

[0014] The disadvantages of prior art 2 are as follows:

[0015] 1) The decoupling mechanism has a complex structure and is not easy to expand. It is difficult to implement when there are many ropes to be decoupled.

[0016] 2) The decoupling capacity of the decoupling mechanism is limited by the pretensioning effect of the rope. When the pretensioning force of the rope decreases, the decoupling capacity decreases significantly.

[0017] 3) The rope winding method in the decoupling mechanism is complex and the friction factor is large, which is not conducive to improving the control accuracy. Summary of the Invention

[0018] The purpose of the present invention is to solve the technical problem that the driving structure and the motion structure in a rope-driven manipulator are not completely separated, and to provide a rope-driven manipulator.

[0019] The technical problem of the present invention is solved by the following technical solutions:

[0020] A rope-driven manipulator comprises a manipulator motion mechanism, a decoupling mechanism, a drive mechanism, and a base, wherein the manipulator motion mechanism and the drive mechanism are respectively arranged on either side of the base, and the decoupling mechanism is arranged between the manipulator motion mechanism and the base and connected to the manipulator motion mechanism and the base respectively;

[0021] The robotic arm motion mechanism includes a drive rope. After the decoupling mechanism transfers the drive rope from the robotic arm motion mechanism to the base, the drive rope is connected to the drive mechanism. The drive mechanism controls the retraction and extension length of the drive rope. The tension of the drive rope acts on the robotic arm motion mechanism through the decoupling mechanism to drive the robotic arm motion mechanism to move.

[0022] In some embodiments, the robotic arm motion mechanism includes an end platform, a wrist joint, a connecting plate, an elbow joint and a shoulder joint; the end platform is installed at the end of the wrist joint, the wrist joint is fixed to the elbow joint through the connecting plate, the elbow joint is fixed to the shoulder joint through the connecting plate, and the shoulder joint is rotatably mounted on the base through an axial hole.

[0023] In some embodiments, the driving cables are arranged on the axes of rotation of the wrist joint, the elbow joint, and the shoulder joint, wherein each degree of freedom of the wrist joint, the elbow joint, and the shoulder joint is controlled by a pair of the driving cables.

[0024] In some embodiments, the decoupling mechanism includes a tower pulley assembly, a tower pulley connecting bracket, an intermediate connecting rod and a pulley decoupling group, the tower pulley assembly is connected to the tower pulley connecting bracket through a bearing, the tower pulley connecting bracket connects the tower pulley assembly and the shoulder joint, and the intermediate connecting rod is fixed to the shoulder joint to allow the drive rope to transition from the tower pulley assembly to the pulley decoupling group.

[0025] In some embodiments, the pulley decoupling group includes a movable bracket, a fixed bracket and a pulley, wherein the movable bracket is fixed on the shoulder joint, the fixed bracket is fixed on the base, and the pulley is installed in the movable bracket and the fixed bracket through an axial hole.

[0026] In some embodiments, a U-shaped groove is provided on the pulley, and the drive rope is wound around the pulley through the U-shaped groove.

[0027] In some embodiments, the driving mechanism includes a motor and a motor mounting seat, the motor is connected to the motor mounting seat via threads, and the motor mounting seat is fixed to the base.

[0028] In some embodiments, the driving mechanism also includes a screw motion structure, a wire locker and a pulley guide mechanism, the screw motion structure is installed on the motor mounting seat, the wire locker is arranged on the screw motion structure, and the pulley guide mechanism pulls the drive rope into the wire locker and fixes it; the motor provides power to make the screw motion structure produce linear motion, and drive the wire locker to move, thereby controlling the retraction and extension length of the drive rope.

[0029] In some embodiments, the drive rope is made of steel wire rope.

[0030] In some embodiments, the material of the robotic arm motion mechanism, decoupling mechanism and driving mechanism is aluminum alloy.

[0031] The beneficial effects of the present invention compared with the prior art include:

[0032] The rope-driven manipulator proposed in the present invention achieves complete electromechanical separation of the rope-driven manipulator by arranging the manipulator motion mechanism and the driving mechanism on both sides of the base respectively, and arranging the decoupling mechanism between the manipulator motion mechanism and the base, and connecting them to the manipulator motion mechanism and the base respectively, so that all of them are integrated at the base end, greatly reducing the mass and inertia of the moving parts.

[0033] In addition, in some embodiments, the following beneficial effects are also achieved:

[0034] In some embodiments of the present invention, a pulley is arranged in the decoupling mechanism for the movement of each drive rope, and the path of each drive rope is controlled on the axis of joint rotation through the pulley group, so that the length of the rope will not be affected when each joint rotates, thereby achieving complete decoupling of the robot arm movement mechanism and the drive mechanism; and the drive rope does not have relative friction with the pulley during movement. After using the pulley to guide the drive rope, the friction coefficient of the pulley is only 0.02-0.04, which can greatly reduce the friction force.

[0035] The decoupling mechanism of the rope-driven manipulator proposed in some embodiments of the present invention has a simple structure and is easy to expand. When the degree of freedom of the manipulator increases, that is, the driving rope increases, then only corresponding pulleys need to be added to achieve the same decoupling effect for the rope-driven manipulator with multiple degrees of freedom.

[0036] The rope-driven manipulator proposed in some embodiments of the present invention is provided with a U-shaped groove on the pulley to smoothly wind the driving rope.

[0037] Other beneficial effects of the embodiments of the present invention will be further described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 2 is a schematic structural diagram of a rope-driven manipulator according to an embodiment of the present invention;

[0039] Figure 2 is an exploded view of a rope-driven manipulator according to an embodiment of the present invention;

[0040] Figure 3 Schematic diagram of the structure of the robot arm motion mechanism according to an embodiment of the present invention;

[0041] Figure 4 is an exploded view of the motion mechanism of the robotic arm according to an embodiment of the present invention;

[0042] Figure 5 is a structural diagram of a decoupling mechanism according to an embodiment of the present invention;

[0043] Figure 6 is a partial schematic diagram of a decoupling mechanism according to an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the position of the drive rope before the joint rotates according to an embodiment of the present invention;

[0045] Figure 8 This is a schematic diagram of the position of the drive rope after the joint rotates according to an embodiment of the present invention;

[0046] Figure 9 This is a schematic diagram of shoulder joint rotation according to an embodiment of the present invention;

[0047] Figure 10 2. It is a schematic diagram of driving rope winding according to an embodiment of the present invention;

[0048] Figure 11 1 is a schematic structural diagram of a driving mechanism according to an embodiment of the present invention;

[0049] Figure 12 2 is a schematic diagram corresponding to the decoupling of the pulley and the drive rope according to an embodiment of the present invention.

[0050] The reference numerals are as follows:

[0051] 1-Robot arm motion mechanism, 2-decoupling mechanism, 3-driving mechanism, 4-base, 11-end platform, 12-wrist joint, 13-connecting plate, 14-elbow joint, 15-shoulder joint, 16-driving rope, 21-tower pulley assembly, 22-tower pulley connecting bracket, 23-intermediate connecting rod, 24-pulley decoupling group, 241-movable bracket, 242-fixed bracket, 243-pulley, 31-motor, 32-motor mounting seat, 33-screw motion structure, 34-wire locker, 35-pulley guide mechanism. DETAILED DESCRIPTION

[0052] The present invention will be further described below with reference to the accompanying drawings and in combination with preferred embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0053] It should be noted that the directional terms such as left, right, up, down, top, and bottom in this embodiment are merely relative concepts, or are based on the normal use status of the product, and should not be considered as restrictive.

[0054] In order to address the shortcomings of existing rope-driven robotic arms with electromechanical separation designs, in which the motor is integrated into the shoulder joint and cannot be separated from the base, an embodiment of the present invention proposes a rope-driven robotic arm that can achieve complete electromechanical separation. The driving motors and moving parts of the robotic arm are all integrated at the base end, achieving complete decoupling and significantly reducing the mass and inertia of the moving parts.

[0055] In order to address the shortcomings of existing decoupling mechanisms, such as complex structures and difficulty in expansion, the decoupling mechanism proposed in the embodiment of the present invention can completely decouple each driving rope. The decoupling mechanism is simple and easy to expand, and also simplifies the structural complexity of the robot arm drive mechanism.

[0056] In order to address the shortcomings of the complex winding method of the driving rope of the decoupling mechanism in the existing rope-driven manipulator technology, the decoupling mechanism proposed in the embodiment of the present invention utilizes a pulley decoupling group to make the driving rope run smoothly and reduce the friction factors during the transmission process of the driving rope.

[0057] The purpose of the embodiments of the present invention is to provide a rope-driven rigid arm with a decoupling and winding design for the driving rope at the joint and a decoupling mechanism design, so as to simplify the design of the rope-driven joint and reduce the mass and inertia of the moving parts of the robotic arm.

[0058] To achieve the above objectives, an embodiment of the present invention proposes a rope-driven manipulator, comprising a manipulator motion mechanism, a decoupling mechanism, a drive mechanism, and a base. The manipulator motion mechanism and the drive mechanism are respectively arranged on either side of the base, and the decoupling mechanism is arranged between the manipulator motion mechanism and the base and connected to the manipulator motion mechanism and the base, respectively. The manipulator motion mechanism includes a drive rope. After the decoupling mechanism transfers the drive rope from the manipulator motion mechanism to the base, the drive rope is connected to the drive mechanism. The drive mechanism controls the retraction and extension length of the drive rope. The tension of the drive rope acts on the manipulator motion mechanism through the decoupling mechanism to drive the manipulator motion mechanism to move. The embodiment of the present invention can achieve complete electromechanical separation of the rope-driven manipulator, thereby fully integrating it into the base end, significantly reducing the mass and inertia of the moving parts.

[0059] Example 1:

[0060] like Figure 1 and Figure 2 As shown, this embodiment shows a rope-driven rigid arm, comprising a robotic arm motion mechanism 1, a decoupling mechanism 2, a driving mechanism 3 and a base 4. The decoupling mechanism 2 is mounted on the shoulder joint of the rigid arm, and the driving mechanism 3 is fixed to the base 4 via a threaded connection.

[0061] like Figure 3 and Figure 4As shown, the robotic arm motion mechanism 1 includes an end platform 11, a wrist joint 12, a connecting plate 13, an elbow joint 14, a shoulder joint 15 and a plurality of driving ropes 16; wherein each degree of freedom of the joint is controlled by a pair of driving ropes 16, the end platform 11 is fixed to the end of the wrist joint 12 by a threaded connection, the wrist joint 12 is fixed to the elbow joint 14 by a connecting plate 13, the elbow joint 14 is fixed to the shoulder joint 15 by a connecting plate, and the shoulder joint 15 is mounted on the base 4 through an axial hole, and the axis of its mounting hole is the joint axis; the above-mentioned joints are arranged in series through the fixed winding of the driving rope 16, so that the joint movement can be controlled by pulling the driving rope 16.

[0062] like Figure 5 As shown, the decoupling mechanism 2 includes a step pulley assembly 21, a step pulley connecting bracket 22, an intermediate connecting rod 23 and a pulley decoupling assembly 24. The step pulley assembly 21 is connected to the step pulley connecting bracket 22 via a bearing, the step pulley connecting bracket 22 connects the step pulley assembly 21 to the shoulder joint 15, and the intermediate connecting rod 23 is fixed to the shoulder joint 15 to transfer the drive rope 16 from the step pulley assembly 21 to the pulley decoupling assembly 24.

[0063] like Figure 6 As shown, the pulley decoupling group 24 includes a movable bracket 241, a fixed bracket 242 and a pulley 243. The movable bracket 241 is fixed to the shoulder joint 15, the fixed bracket 242 is fixed to the base 4, and the pulley 243 is mounted in the movable bracket 241 and the fixed bracket 242 through an axial hole. A U-shaped groove is provided on the pulley 243, and the drive rope 16 is wound around the pulley 243 through the U-shaped groove to achieve the purpose of smoothly winding the drive rope 16. Transverse and longitudinal pulleys are provided in the pulley decoupling group 24. The function of the transverse pulley 243 is to guide the drive ropes 16 at different positions to the same joint axis, while the function of the longitudinal pulley 243 is to guide the drive rope 16 vertically to the drive mechanism 3. This arrangement, on the one hand, satisfies the principle of using the joint axis to realize the structure in the decoupling mechanism 2, and on the other hand, makes the structure more compact. The paths of the drive cables 16 are controlled on the axis of the joint rotation by the pulley set, so that the length of the drive cables 16 is not affected when the joint rotates, thereby eliminating the coupling problem caused by the movement between the joints. Figure 7 (indicated by arrows) and Figure 8 As shown, the position changes of the driving cable 16 before and after the joint is rotated.

[0064] The movable bracket 241 is fixed relative to the shoulder joint 15, but because the shoulder joint 15 is mounted on the base 4 through the shaft hole, the movable bracket 241 moves with the shoulder joint 15. Therefore, the movable bracket 241 is "movable" relative to the base. Figure 9As shown, the shoulder joint 15 performs a rotational movement about the joint axis.

[0065] In this embodiment, Figure 5 The two elbow joints 14 are merely examples; in other embodiments, there is no limit on the number of elbow joints 14. A greater number of elbow joints 14 provides a greater number of degrees of freedom for the robotic arm, resulting in more flexible movement. However, this also requires more drive cables 16 to pass through the decoupling mechanism 2, which in turn increases the number of pulleys 243 in the pulley decoupling assembly 24 of the decoupling mechanism 2.

[0066] A rope-driven joint requires two driving ropes 16 to control the forward and reverse rotation respectively, and a driving rope 16 requires three pulleys 243 in the decoupling mechanism 2 for decoupling, that is, one joint is equal to six pulleys 243, and the formula is:

[0067] ,

[0068] in Indicates the number of joints.

[0069] like Figure 10 As shown, the driving rope 16 passes through two elbow joints 14 and shoulder joint 15 from the end platform 11, except Figure 6 Except for the special arrangement of the pulley 243 of the decoupling mechanism 2, the rest of the paths are through Figure 5 The middle tower pulley assembly 21 is wound in a similar manner, i.e. in an "8"-shaped rope arrangement.

[0070] like Figure 11 As shown, the drive mechanism 3 includes a motor 31, a motor mounting base 32, a screw motion structure 33, a wire lock 34, and a pulley guide mechanism 35. The motor 31 is fixed to the base 4 via a threaded connection or the motor mounting base 32 to drive the joint movement. The motor 31 is directly fixed to the base 4 via a threaded connection. The motor mounting base 32 also has four motors, which are fixed to the base 4 via the motor mounting base 32. The screw motion structure 33 is mounted on the motor mounting base 32. The motor 31 provides power to cause the screw motion structure 33 to generate linear motion. The wire lock 34 is arranged on the screw motion structure 33. The screw nut on the wire lock 34 and the screw motion structure 33 driven by the motor 31 combine to generate linear motion. The drive rope 16 is pulled into the wire lock 34 through the pulley guide mechanism 35 and fixed by screws. The pulley guide mechanism 35 is fixed to the base 4 by screws and has no connection with the motor mounting base 32. When the motor 31 rotates, the screw motion structure 33 converts the rotational motion of the motor into the linear motion of the wire lock 34, thereby controlling the retraction and extension length of the drive rope 16, thereby controlling the motion of each joint of the robotic arm.

[0071] The robotic arm motion mechanism 1 is the active component of the rope-driven rigid arm, which is used to complete the task requirements of the robotic arm and can be controlled by the driving rope 16 to move; the decoupling mechanism 2 is a component in the rope-driven rigid arm used to eliminate the influence of joint rotation on the length of the driving rope 16 and avoid coupling caused by movement between joints; the driving mechanism 3 is used to integrate the motor 31 and the driving rope 16 of the rope-driven rigid arm, and control the retraction and extension of the driving rope 16.

[0072] The rope-driven rigid arm of this embodiment can achieve complete electromechanical separation. Through the decoupling mechanism 2, all the motors 31 of the robot arm can be integrated and fixed at the end of the base 4. Compared with the design of the traditional robot arm in which the motor 31 is arranged in the moving part, the moving part is less in mass and inertia of the motor 31, thereby reducing the mass and inertia of the moving part of the robot arm, further improving the safety and interactivity of the robot arm during operation.

[0073] The decoupling mechanism 2 designed in this embodiment has a simple structure and is easily expandable. It can achieve the same decoupling effect for rope-driven manipulators with multiple degrees of freedom. Furthermore, the drive ropes 16 bend smoothly, minimizing friction during the drive process. This reduction in friction during the drive process in this embodiment is primarily due to the arrangement of pulleys 243, or grooved bearings, for each drive rope 16 in the decoupling mechanism 2. This eliminates friction between the pulleys and the drive ropes 16 during movement.

[0074] In this embodiment, the drive rope 16 is made of steel wire rope, and the main body of the robotic arm is made of aluminum alloy. The friction coefficient between the two is between 0.6-0.8. However, after the pulley 243 is used to guide the drive rope 16, the friction coefficient of the pulley is only 0.02-0.04, which can greatly reduce the friction force.

[0075] In other embodiments, when the degree of freedom of the robot arm increases, that is, the driving rope 16 increases, then only the corresponding pulley 243 needs to be added to achieve the same decoupling effect. Figure 12 The figure shows the decoupling of four drive ropes 16. If one more drive rope 16 needs to be decoupled, it is only necessary to extend another pair of pulleys.

[0076] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. Those skilled in the art will recognize that several equivalent substitutions or obvious variations can be made without departing from the scope of the present invention, and that any equivalent performance or application should be considered to fall within the scope of protection of the present invention.

Claims

1. A rope-driven manipulator, characterized in that: The invention comprises a robot arm motion mechanism (1), a decoupling mechanism (2), a driving mechanism (3) and a base (4), wherein the robot arm motion mechanism (1) and the driving mechanism (3) are respectively arranged on both sides of the base (4), and the decoupling mechanism (2) is arranged between the robot arm motion mechanism (1) and the base (4), and is respectively connected to the robot arm motion mechanism (1) and the base (4); The manipulator motion mechanism (1) includes a driving rope (16). After the decoupling mechanism (2) transfers the driving rope (16) from the manipulator motion mechanism (1) to the base (4), the driving rope (16) is connected to the driving mechanism (3). The driving mechanism (3) controls the retraction and extension length of the driving rope (16). The tension of the driving rope (16) acts on the manipulator motion mechanism (1) through the decoupling mechanism (2) to drive the manipulator motion mechanism (1) to move. The manipulator motion mechanism (1) includes an end platform (11), a wrist joint (12), a connecting plate (13), an elbow joint (14) and a shoulder joint (15). The end platform (11) is installed at the end of the wrist joint (12). The wrist joint (12) is fixed to the elbow joint (14) through the connecting plate (13). The elbow joint (14) is fixed to the shoulder joint (15) through the connecting plate (13). The shoulder joint (15) is rotatably mounted on the base (4) through the shaft hole; the decoupling mechanism (2) comprises a step pulley assembly (21), a step pulley connecting bracket (22), an intermediate connecting rod (23) and a pulley decoupling assembly (24); the step pulley assembly (21) is connected to the step pulley connecting bracket (22) through a bearing; the step pulley connecting bracket (22) connects the step pulley assembly (21) and the shoulder joint (15); and the intermediate connecting rod (23) is fixed to the shoulder joint (15). , so that the drive rope (16) transitions from the tower pulley assembly (21) to the pulley decoupling assembly (24); the pulley decoupling assembly (24) comprises a movable bracket (241), a fixed bracket (242) and a pulley (243), wherein the movable bracket (241) is fixed to the shoulder joint (15), the fixed bracket (242) is fixed to the base (4), and the pulley (243) is installed in the movable bracket (241) and the fixed bracket (242).

2. The rope-driven manipulator according to claim 1, wherein: The driving ropes (16) are arranged on the axes of rotation of the wrist joint (12), the elbow joint (14) and the shoulder joint (15), wherein each degree of freedom of the wrist joint (12), the elbow joint (14) and the shoulder joint (15) is controlled by a pair of the driving ropes (16).

3. The rope-driven manipulator according to claim 1, wherein: A U-shaped groove is provided on the pulley (243), and the driving rope (16) is wound around the pulley (243) through the U-shaped groove.

4. The rope-driven manipulator according to claim 1, wherein: The driving mechanism (3) comprises a motor (31) and a motor mounting seat (32), the motor (31) is mounted on the motor mounting seat (32), and the motor mounting seat (32) is fixed on the base (4).

5. The rope-driven manipulator according to claim 4, wherein: The driving mechanism (3) further comprises a screw motion structure (33), a wire locker (34) and a pulley guide mechanism (35), wherein the screw motion structure (33) is mounted on the motor mounting seat (32), the wire locker (34) is arranged on the screw motion structure (33), and the pulley guide mechanism (35) pulls the driving rope (16) into the wire locker (34) and fixes it; the motor (31) provides power to cause the screw motion structure (33) to generate linear motion and drive the wire locker (34) to move, thereby controlling the retraction and extension length of the driving rope (16).

6. The rope-driven manipulator according to claim 1, wherein: The driving rope (16) is made of a steel wire rope.

7. The rope-driven manipulator according to claim 1, wherein: The material of the robot arm main body of the robot arm motion mechanism (1) is aluminum alloy.

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