Rope-driven passive decoupled three-degree-of-freedom series shoulder joint

Abstract

The present application relates to a kind of three degrees of freedom series connection shoulder joints of passive decoupling of rope drive, comprising: fixed base, the fixed base is provided with base decoupling mechanism;Shoulder one rotary joint, the shoulder one rotary joint includes shoulder one rotor, shoulder one stator, first cross roller bearing;Shoulder two pitch joint, the shoulder two pitch joint includes shoulder two stator, shoulder two rotor, shoulder two fixed axle, shoulder two winding wheel, shoulder two coupling wheel;Shoulder three rotary joint, the shoulder three rotary joint includes shoulder three upper stator, shoulder three rotor, shoulder three winding wheel, second cross roller bearing, shoulder three rotary decoupling mechanism.The three degrees of freedom series connection shoulder joints of passive decoupling of rope drive can realize the decoupling of series connection multi-joint rope under the premise that the size of movable part of mechanical arm is not increased, shoulder and rear end joint driving motor are placed on fixed base, the weight and inertia of mechanical arm are reduced, the dexterity requirement of agile mechanical arm is satisfied.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical arms, in particular to a rope-driven passive decoupling three-degree-of-freedom serial shoulder joint and a control method thereof. BACKGROUND

[0002] The coupling of the rope-driven joint is that when the front joint moves, the length of the rope changes accordingly due to the rope passing through the front joint, which affects the control of the rear joint. To solve the coupling problem of the rope-driven joint, a decoupling mechanism can be used to eliminate the motion coupling between the front joint and the rear joint. At present, most passive decoupling mechanisms are only applicable to single-rotation joint rope decoupling. For a multi-joint structure in series, a decoupling mechanism needs to be added at each joint coupling, which increases the size and mass of the movable part of the mechanical arm, making it difficult to meet the dexterity requirements of agile mechanical arms.

[0003] The three-degree-of-freedom serial shoulder joint of the mechanical arm generally adopts a motor plus harmonic reducer direct connection mode, and the motor is still located at the movable end of the mechanical arm, so the inertia and mass of the joint are large; although the motor is placed on the base in the multi-degree-of-freedom parallel shoulder joint, the joint generally has a small range of motion and singularity, which reduces the working space of the mechanical arm. SUMMARY

[0004] The present application provides a rope-driven passive decoupling three-degree-of-freedom serial shoulder joint and a control method thereof, which aims to at least solve one of the technical problems existing in the prior art.

[0005] The technical scheme of the present application is a rope-driven passive decoupling three-degree-of-freedom serial shoulder joint, comprising:

[0006] A fixed base is provided with a base decoupling mechanism;

[0007] A shoulder one-rotation joint is arranged above the fixed base, and the shoulder one-rotation joint comprises a shoulder one rotor, a shoulder one stator, and a first cross roller bearing. The shoulder one-rotation joint is connected to the shoulder one-rotation shaft through the shoulder one rotor. The base decoupling mechanism is arranged between the shoulder one-rotation joint and the fixed base, and is connected to the shoulder one-rotation joint through the shoulder one-rotation shaft.

[0008] A shoulder two-pitching joint is arranged above the shoulder one-rotation joint and connected to the shoulder one rotor. The shoulder two-pitching joint comprises a shoulder two stator, a shoulder two rotor, a shoulder two fixed shaft, a shoulder two wire winding wheel, and a shoulder two coupling wheel. The shoulder two stator is fixedly connected to the shoulder one rotor through a connecting piece. The shoulder two fixed shaft is fixedly connected to the shoulder two stator. The shoulder two wire winding wheel is fixed to the shoulder two rotor and arranged on both sides of the shoulder two fixed shaft.

[0009] A shoulder three-rotation joint is arranged above the shoulder two-pitching joint and connected with the shoulder two-rotor, and the shoulder three-rotation joint comprises a shoulder three-upper stator, a shoulder three-rotor, a shoulder three-winding wheel, a second cross-roller bearing, a shoulder three-rotation decoupling mechanism, and a shoulder three-rotation shaft arranged in the shoulder three-rotor, and the shoulder three-rotation decoupling mechanism is connected with the shoulder three-rotation joint through the shoulder three-rotation shaft.

[0010] Further, the three-degree-of-freedom joint further comprises a rear-end joint driving rope, a shoulder three-joint driving rope, a shoulder two-joint coupling rope, a shoulder one-joint driving rope, a shoulder one-joint coupling rope, and a shoulder two-joint driving rope;

[0011] The shoulder one-joint driving rope is connected to the shoulder one-rotor through the shoulder one-rotation joint, and is used for driving the shoulder one-winding wheel to rotate;

[0012] One end of the shoulder one-joint coupling rope is fixed to the shoulder one-coupling wheel, and the other end is fixed to the fixed base;

[0013] The shoulder two-joint coupling rope is sequentially connected to the fixed base through the shoulder one-rotation joint and the base decoupling mechanism;

[0014] One end of the shoulder two-joint driving rope is connected to the base decoupling mechanism, and the other end is connected to the second motor winding wheel;

[0015] One end of the shoulder three-joint driving rope is fixed to the shoulder three-rotor, and the other end is sequentially connected to the third motor winding wheel through the shoulder two-pitching joint, the shoulder one-rotation joint, and the base decoupling mechanism;

[0016] One end of the rear-end joint driving rope is fixed to the rear-end movable joint, and the other end is sequentially connected to the first motor winding wheel through the shoulder three-rotation decoupling mechanism, the shoulder two-pitching joint, the shoulder one-rotation joint, and the base decoupling mechanism.

[0017] Further, the shoulder one-winding wheel, the shoulder two-winding wheel, the shoulder three-winding wheel, and the rear-end movable joint are driven by the moment difference generated by the shoulder one-joint driving rope, the shoulder two-joint driving rope, the shoulder three-joint driving rope, and the rear-end joint driving rope.

[0018] Further, the shoulder three-rotor is connected with the inner ring of the second cross-roller bearing, and the outer ring of the cross-roller bearing is connected with the shoulder three-upper stator;

[0019] The shoulder two-coupling wheel is connected with the shoulder two-fixed shaft through the first deep groove ball bearing, and the shoulder two-first winding wheel and the shoulder two-second winding wheel are connected with the shoulder two-fixed shaft through the second deep groove ball bearing, respectively;

[0020] The shoulder one rotor is connected with the fixed base through the first crossed roller bearing inner ring, and the first crossed roller bearing outer ring is fixed on the fixed base.

[0021] Further, the shoulder three rotation decoupling mechanism includes a shoulder three rotation shaft, a driving coupling wheel, a driven decoupling wheel set, a driving gear, a driven gear, a fixed gear, a driven support, a fixed coupling wheel, a shoulder three winding wheel, and a shoulder three guide pulley.

[0022] The driving gear, the driven gear, and the fixed gear constitute a planetary gear train, and form a differential motion mechanism.

[0023] The shoulder three winding wheel transmits motion to the shoulder three rotation decoupling mechanism through the shoulder three rotation shaft, drives the driving gear to move, the driving gear and the shoulder three rotation shaft have the same rotational speed, the driven gear is engaged with the driving gear and the fixed gear respectively, and the fixed gear is fixedly connected with the shoulder two pitch joint.

[0024] Further, the base decoupling mechanism includes a base coupling wheel, a first base reversing pulley, a first movable pulley set, a second movable pulley set, a shoulder one coupling wheel, a shoulder one rotation shaft, a shoulder one guide pulley, a linear guide rail, and a sliding block.

[0025] The shoulder one rotation joint is connected with the shoulder one rotation shaft through the shoulder one rotor, the shoulder one coupling wheel is fixed on the output end of the shoulder one rotation shaft, and the shoulder one rotation joint, the shoulder one rotation shaft, and the shoulder one coupling wheel rotate at the same angular speed.

[0026] One end of the shoulder one joint driving rope is fixed on the shoulder one winding wheel, the other end of the shoulder one joint driving rope is fixed on the first motor winding wheel, and the shoulder one joint driving rope is composed of opening and closing lines and contraction lines with opposite winding directions.

[0027] The fixed end of the shoulder one joint coupling rope is fixed on the shoulder one coupling wheel, the movable end of the shoulder one joint coupling rope is fixed on the fixed base in sequence after passing through the first base reversing pulley and the first movable pulley set, the shoulder one joint coupling rope is composed of opening and closing lines and contraction lines, and the opening and closing lines and the contraction lines have opposite winding directions through the first base reversing pulley and the first movable pulley set.

[0028] Further, one end of the shoulder two joint coupling rope is fixed on the shoulder two rotor, opening and closing lines and contraction lines of the shoulder two joint coupling rope are reversely wound around the shoulder two winding wheel to drive the shoulder two pitch joint to rotate forward and reversely, and the output end of the shoulder two joint coupling rope is fixed on the fixed base in sequence after passing through the base coupling wheel, the first base reversing pulley, the first movable pulley set, and the second movable pulley set.

[0029] One end of the shoulder two-joint driving rope is fixed on the movable pulley set, the shoulder two-joint driving rope passes through the driving guide pulley in sequence, and the shoulder two-joint driving rope is wound on the second motor winding wheel in opposite directions.

[0030] Further, one end of the shoulder three-joint driving rope is fixed on the shoulder three-joint rotor, the shoulder three-joint driving rope passes through the shoulder three-joint guide pulley, the shoulder two-joint winding wheel, the base coupling wheel, the first base reversing pulley, the first movable pulley set and the second movable pulley set in sequence, bypasses the driving guide pulley, and is wound on the third motor winding wheel in opposite directions.

[0031] Further, one end of the rear end joint driving rope is fixed on the rear end joint, the rear end joint driving rope passes through the rear end guide pulley, the driving coupling wheel, the driven decoupling wheel set, the fixed coupling wheel, the shoulder two-joint winding wheel, the base coupling wheel, the first base reversing pulley, the first movable pulley set and the second movable pulley set in sequence, bypasses the driving guide pulley, and the rear end joint driving rope is wound on the fourth motor winding wheel in opposite directions.

[0032] Further, the first movable pulley set and the second movable pulley set are installed on the sliding block, the sliding block is installed on the linear guide rail, and the sliding block moves linearly along the linear guide rail. The linear guide rail is arranged on the fixed base.

[0033] The beneficial effects of the present application are:

[0034] The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint can realize the decoupling of the serial multi-joint rope without increasing the size of the movable part of the mechanical arm, the shoulder joint driving motor and the rear end joint driving motor are placed on the fixed base, the weight and inertia of the mechanical arm are reduced, and the dexterity requirement of the agile mechanical arm is met. Specifically, the serial rotary joint decoupling structure is adopted, the decoupling of the serial multi-joint rope can be completed without increasing the size of the movable joint of the mechanical arm, the shoulder joint driving motor is placed behind the fixed base, the movable part of the shoulder joint only has 2kg, the mass and inertia of the shoulder joint movement are reduced, the structure of the three-degree-of-freedom serial shoulder joint is simplified, meanwhile, the serial joint design is retained, the shoulder joint can realize a larger movement range and flexibility, and the dexterity requirement of the agile mechanical arm is met. The rope-driven shoulder joint can realize the decoupling of the rear end joint rope, and only the number of decoupling wheels needs to be adjusted to realize the mechanical decoupling of multiple rear end joints. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a whole structure diagram of the rope-driven passive decoupling three-degree-of-freedom serial shoulder joint.

[0036] Figure 2 It is a structure diagram of the shoulder two-joint and the shoulder three-joint of the rope-driven passive decoupling three-degree-of-freedom serial shoulder joint.

[0037] Figure 3 Structure diagram of a shoulder three-rotation joint decoupling mechanism in a rope-driven passive decoupling three-degree-of-freedom serial shoulder joint.

[0038] Figure 4 Sectional view of a shoulder three-rotation joint mechanism in a shoulder two-pitching joint in a rope-driven passive decoupling three-degree-of-freedom serial shoulder joint.

[0039] Figure 5 Structure diagram of a base decoupling mechanism of a rope-driven passive decoupling three-degree-of-freedom serial shoulder joint.

[0040] Figure 6 Sectional view of a base decoupling mechanism of a rope-driven passive decoupling three-degree-of-freedom serial shoulder joint.

[0041] Figure 7 Winding diagram of a rope-driven passive decoupling three-degree-of-freedom serial shoulder joint.

[0042] The drawings show that: 1, base decoupling mechanism; 2, shoulder one-rotation joint; 3, shoulder two-pitching joint; 4, shoulder three-rotation joint; 5, first motor winding wheel; 6, second motor winding wheel; 7, fixed base; 8, rear-end joint driving rope; 9, shoulder three-joint driving rope; 10, shoulder two-joint coupling rope; 11, shoulder one-joint coupling rope; 12, shoulder one-joint driving rope; 13, shoulder two-joint driving rope; 14, driving motor; 201, shoulder one rotor; 202, shoulder one stator; 203, first cross roller bearing; 204, shoulder two stator; 205, shoulder two rotor; 206, shoulder two fixed shaft; 207, shoulder two winding wheel; 208, shoulder three upper stator; 209, shoulder three rotor; 210, shoulder three winding wheel; 211, second cross roller bearing; 212, shoulder three-rotation decoupling mechanism; 213, shoulder one winding wheel; 31, driving gear; 32, follow-up gear; 33, fixed gear; 34, shoulder three-rotation shaft; 35, active coupling wheel; 36, follow-up support; 37, follow-up decoupling wheel set; 38, fixed coupling wheel; 40, shoulder three guide pulley; 41, rear-end guide pulley; 51, base coupling wheel; 52, first base reversing pulley; 53, first movable pulley set; 54, second movable pulley set; 55, shoulder one coupling wheel; 56, shoulder one-rotation shaft; 57, shoulder one guide pulley; 58, driving guide pulley; 59, sliding block. DETAILED DESCRIPTION

[0043] The concept, specific structure and generated technical effects of the present application will be described clearly and completely in the following combined with embodiments and drawings, so as to fully understand the purpose, scheme and effect of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0044] It should be noted that, unless otherwise specified, when a certain feature is said to be "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. In addition, the up, down, left, right, top, bottom and the like used in the present application are only relative to the relative position of the components of the present application in the drawings.

[0045] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the specification of the present application is only for the purpose of describing specific embodiments and is not intended to limit the present application. The term "and / or" used herein includes any combination of one or more related listed items.

[0046] It should be understood that although the terms first, second, third, etc. can be used in the present disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, a first element can also be referred to as a second element, and similarly, a second element can also be referred to as a first element.

[0047] Referring to Figures 1 to 7 In some embodiments, the technical solution of the present application is a rope-driven passive decoupling three-degree-of-freedom serial shoulder joint, referring to Figure 1 and Figure 2 The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint comprises:

[0048] A fixed base 7 is provided with a base decoupling mechanism 1;

[0049] A shoulder one rotation joint 2 is arranged above the fixed base 7, the shoulder one rotation joint 2 comprises a shoulder one rotor 201, a shoulder one stator 202 and a first cross roller bearing 203, the shoulder one rotation joint 2 is connected with a shoulder one rotation shaft 56 through the shoulder one rotor 201, the base decoupling mechanism 1 is arranged between the shoulder one rotation joint 2 and the fixed base 7, and the base decoupling mechanism 1 is connected with the shoulder one rotation joint 2 through the shoulder one rotation shaft 56;

[0050] A shoulder two pitch joint 3 is arranged above the shoulder one rotation joint 2 and connected with the shoulder one rotor 201, the shoulder two pitch joint 3 comprises a shoulder two stator 204, a shoulder two rotor 205, a shoulder two fixed shaft 206, a shoulder two winding wheel 207 and a shoulder two coupling wheel, the shoulder two stator 204 is fixedly connected with the shoulder one rotor 201 through a connecting piece, the shoulder two fixed shaft 206 is fixedly connected with the shoulder two stator 204, the shoulder two winding wheel 207 is fixed on the shoulder two rotor 205 and arranged on both sides of the shoulder two fixed shaft 206;

[0051] A shoulder three-rotation joint 4 is arranged above the shoulder two-pitching joint 3 and connected with the shoulder two-rotor 205, the shoulder three-rotation joint 4 comprises a shoulder three-upper stator 208, a shoulder three-rotor 209, a shoulder three-winding wheel 210, a second cross-roller bearing 211, a shoulder three-rotation decoupling mechanism 212, a shoulder three-rotation shaft 34 is arranged in the shoulder three-rotor 209, and the shoulder three-rotation decoupling mechanism 212 is connected with the shoulder three-rotation joint 4 through the shoulder three-rotation shaft 34.

[0052] The beneficial effects of the present application are:

[0053] The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint mechanism can realize the decoupling of the serial multi-joint ropes without increasing the size of the movable part of the mechanical arm, the shoulder and rear joint driving motors are placed on the fixed base 7, the weight and inertia of the mechanical arm are reduced, and the dexterity requirement of the agile mechanical arm is met.

[0054] The present application provides a kind of rope-driven passive decoupling three-degree-of-freedom serial shoulder joint mechanism, can realize the decoupling of the serial multi-joint ropes without increasing the size of the movable part of the mechanical arm, the shoulder and rear joint driving motors are placed on the fixed base 7, the weight and inertia of the mechanical arm are reduced, and the dexterity requirement of the agile mechanical arm is met.

[0055] Further, with reference to Figure 3 , the three-degree-of-freedom joint further comprises a rear joint driving rope 8, a shoulder three-joint driving rope 9, a shoulder two-joint coupling rope 10, a shoulder one-joint driving rope 12, a shoulder one-joint coupling rope 11 and a shoulder two-joint driving rope 13;

[0056] The shoulder one-joint driving rope 11 is connected to the shoulder one-rotor 201 through the shoulder one-rotation joint 2, and the shoulder one-joint driving rope 11 is used to drive the shoulder one-winding wheel 213 to rotate.

[0057] The shoulder two-joint coupling rope 10 is connected to the fixed base 7 in sequence through the shoulder one-rotation joint 2 and the base decoupling mechanism 1.

[0058] The shoulder two joint driving rope 13 is connected to the base decoupling mechanism 1 at one end and connected to the second motor winding wheel 6 at the other end.

[0059] The shoulder three joint driving rope 9 is fixed to the shoulder three rotor 209 at one end and connected to the third motor winding wheel in turn through the shoulder two pitch joint 3, the shoulder one rotation joint 2 and the base decoupling mechanism 1 at the other end.

[0060] The rear end joint driving rope 8 is fixed to the rear end movable joint at one end and connected to the first motor winding wheel 5 in turn through the shoulder three rotation decoupling mechanism 212, the shoulder two pitch joint 3, the shoulder one rotation joint 2 and the base decoupling mechanism 1 at the other end.

[0061] Specifically, the driving rope includes an opening and closing rope and a contraction rope, the opening and closing rope and the contraction rope are located on both sides of the joint driving wheel respectively, the opening and closing rope and the contraction rope are wound on the joint driving wheel, and the winding directions of the opening and closing rope and the contraction rope on the joint driving wheel are opposite.

[0062] The decoupling mechanism can ensure that the length of the rope passing through the decoupling mechanism remains unchanged, thereby achieving decoupling of the joint.

[0063] Further, with reference to Figure 5 , 6 , the shoulder one winding wheel 213, the shoulder two winding wheel 207, the shoulder three winding wheel 210 and the rear end movable joint are driven by the moment difference generated by the shoulder one joint driving rope 11, the shoulder two joint driving rope 13, the shoulder three joint driving rope 9 and the rear end joint driving rope 8.

[0064] Further, the shoulder three rotor 209 is connected with the inner ring of the second cross roller bearing 211, and the outer ring of the second cross roller bearing 211 is connected with the shoulder three upper stator 208.

[0065] The shoulder two coupling wheel is connected with the shoulder two fixed shaft 206 through the first deep groove ball bearing 214, and the shoulder two first winding wheel 207 and the shoulder two second winding wheel 207 are connected with the shoulder two fixed shaft 206 through the second deep groove ball bearing 216 respectively.

[0066] The shoulder one rotor 201 is connected with the fixed base 7 through the inner ring of the first cross roller bearing 203, and the outer ring of the first cross roller bearing 203 is fixed on the fixed base 7.

[0067] Further, the shoulder three rotation decoupling mechanism 212 includes a shoulder three rotation shaft 34, a driving coupling wheel 35, a driven decoupling wheel set 37, a driving gear 31, a driven gear 32, a fixed gear 33, a driven bracket 36, a fixed coupling wheel 38, a shoulder three winding wheel 210 and a shoulder three guide pulley 40.

[0068] The driving gear 31, the follow-up gear 32 and the fixed gear 33 constitute a planetary gear train, forming a differential motion mechanism;

[0069] The shoulder three winding wheel 210 transmits motion to the shoulder three rotary decoupling mechanism through the shoulder three rotary shaft 34, driving the driving gear 31 to move, the driving gear 31 and the shoulder three rotary shaft 34 have the same rotational speed, the follow-up gear 32 is respectively engaged with the driving gear 31 and the fixed gear 33, and the fixed gear 33 is fixedly connected with the shoulder two pitching joint 3.

[0070] Specifically, the decoupling principle of the shoulder three active joint is as follows:

[0071] The servo motor of the opening and closing wire unit rotates, the opening and closing wire unit pulls the opening and closing wire, the servo motor of the contraction wire unit rotates, the contraction wire unit pulls the contraction wire, and the opening and closing wire and the contraction wire generate opposite displacement changes to generate a torque difference in the shoulder three rotary joint 4, so that the shoulder three rotary joint 4 rotates at a rotational speed of the driving gear 31, the follow-up shoulder three rotary joint 4 rotates at the speed of the driving gear 31, the angular velocity of the fixed gear 33 is 0, and therefore the follow-up decoupling wheel set 37 rotates at the speed of the driving gear 31 in the meshing relationship. The driving coupling wheel 35 is fixed on the shoulder three rotary shaft 34, the fixed coupling wheel 38 is connected with the shoulder three rotary shaft 34 through a bearing, and the follow-up decoupling wheel set 37 is fixed on the follow-up gear 32 and rotates at the same speed. The rear joint driving rope 8 passes through the driving coupling wheel 35, the follow-up decoupling wheel set 37 and the fixed coupling wheel 38 in sequence, and the decoupling mechanism realizes decoupling of the rear driving joint rope in the rotary direction.

[0072] Further, the base decoupling mechanism 1 comprises a base coupling wheel 51, a first base reversing pulley 52, a first movable pulley set 53, a second movable pulley set 54, a shoulder one coupling wheel 55, a shoulder one rotary shaft 56, a shoulder one guide pulley 57, a linear guide rail and a sliding block 59.

[0073] The shoulder one rotary joint 2 is connected with the shoulder one rotary shaft 56 through a shoulder one rotor 201, the shoulder one coupling wheel 55 is fixed on the output end of the shoulder one rotary shaft 56, and the shoulder one rotary joint 2, the shoulder one rotary shaft 56 and the shoulder one coupling wheel 55 rotate at the same angular velocity;

[0074] One end of the shoulder one joint driving rope 11 is fixed on a shoulder one winding wheel 213, the other end of the shoulder one joint driving rope 11 is fixed on the first motor winding wheel 5, and the shoulder one joint driving rope 11 is composed of opening and closing wires and contraction wires with opposite winding directions;

[0075] The fixed end of the shoulder one joint coupling rope 12 is fixed on the shoulder one coupling wheel 55, and the movable end of the shoulder one joint coupling rope 12 is fixed on the fixed base 7 in sequence through the first base reversing pulley 52 and the first movable pulley set 53, the shoulder one joint coupling rope is composed of opening and closing lines and contraction lines, and the opening and closing lines and the contraction lines are wound in opposite directions through the first base reversing pulley 52 and the first movable pulley set 53.

[0076] Further, one end of the shoulder two joint coupling rope 10 is fixed on the shoulder two rotor 205, the opening and closing lines and the contraction lines of the shoulder two joint coupling rope 10 are reversely wound around the shoulder two winding wheel 207, the shoulder two pitch joint 3 is driven to rotate forward and backward, and the output end of the shoulder two joint coupling rope 10 is fixed on the fixed base 7 in sequence through the base coupling wheel 51, the first base reversing pulley 52, the first movable pulley set 53 and the second movable pulley set 54.

[0077] One end of the shoulder two joint driving rope 13 is fixed on the movable pulley set 53, the shoulder two joint driving rope 13 passes through the driving guide pulley 58 in sequence, and the shoulder two joint driving rope 13 is wound on the second motor winding wheel 6 in opposite directions.

[0078] Further, one end of the shoulder three joint driving rope 9 is fixed on the shoulder three rotor 209, the shoulder three joint driving rope 9 passes through the shoulder three guide pulley 40, the shoulder two winding wheel 207, the base coupling wheel 51, the first base reversing pulley 52, the first movable pulley set 53 and the second movable pulley set 54 in sequence, is wound around the driving guide pulley 58, and is wound on the third motor winding wheel in opposite directions.

[0079] Further, one end of the rear end joint driving rope 8 is fixed on the rear end joint, the rear end joint driving rope 8 passes through the rear end guide pulley 41, the driving coupling wheel 35, the following decoupling wheel set 37, the fixed coupling wheel 38, the shoulder two winding wheel 207, the base coupling wheel 51, the first base reversing pulley 52, the first movable pulley set 53, the second movable pulley set 54 in sequence, is wound around the driving guide pulley 58, and is wound on the fourth motor winding wheel in opposite directions.

[0080] Decoupling principle of the shoulder one rotary joint 2:

[0081] The servo motor of the first motor winding wheel rotates, the opening and closing line unit pulls the opening and closing line, the servo motor of the contraction line unit rotates, the contraction line unit pulls the contraction line, the opening and closing line and the contraction line generate opposite displacement changes, a torque difference is generated in the shoulder one rotary joint 2, the shoulder one rotary joint 2 rotates at a rotational speed based on the torque difference , the shoulder one coupling wheel rotates at a speed of the shoulder one rotary joint 2, the rope length change is , the first movable pulley set 53 is driven to The linear speed of the second pulley is v, and the length of the rope changes by The shoulder two joint coupling rope, the shoulder three driving rope, and the rear end joint driving rope 8 pass through the base coupling wheel 51 and the first movable pulley set 53, and have the same motion state as the shoulder one decoupling rope, so that the shoulder two decoupling rope, the shoulder three driving rope, and the rear end joint driving rope 8 keep the length unchanged during joint motion. The decoupling of the joint driving ropes in the rotation direction is realized through the base decoupling mechanism.

[0082] Decoupling principle of the shoulder two pitch joint:

[0083] The servo motor of the second motor winding wheel 6 rotates, the opening and closing line unit pulls the opening and closing line, and the servo motor of the contraction line unit rotates, the contraction line unit pulls the contraction line. The opposite displacement changes of the opening and closing line and the contraction line generate a tension difference in the second pulley set, and the second pulley is driven to move at a speed of v based on the tension difference. The linear movement of the second pulley set causes the opposite displacement changes of the shoulder two coupling rope, and generates a torque difference in the shoulder two rotation joint based on the torque difference. The shoulder two rotation joint rotates at a rotational speed of The length of the shoulder two coupling rope changes by The length of the shoulder two coupling rope changes by The length of the shoulder two coupling rope changes by The length of the shoulder two coupling rope changes by The length of the shoulder two coupling rope changes by The shoulder two decoupling rope, the shoulder three driving rope, and the rear end joint driving rope 8 pass through the base coupling wheel 51 and the first movable pulley set 53, and have the same motion state as the shoulder two decoupling rope, so that the shoulder two decoupling rope, the shoulder three driving rope, and the rear end joint driving rope 8 keep the length unchanged during joint motion. The decoupling of the joint driving ropes in the rotation direction is realized through the base decoupling mechanism. The first pulley and the second pulley are fixed on the guide rail slider by screws, and the linear guide rail is fixed on the base. The guide rail slider can reciprocate along the guide rail.

[0084] Further, the first movable pulley set 53 and the second movable pulley set 54 are installed on the slider 59, the slider 59 is installed on the linear guide rail, and the slider 59 reciprocates linearly along the linear guide rail. The linear guide rail is arranged on the fixed base 7.

[0085] The above merely describes preferred embodiments of the present application, and the present application is not limited to the above-described embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure. All shall belong to the protection scope of the present application. The technical solutions and / or embodiments within the protection scope of the present application can have various modifications and changes.

Claims

1. A rope-driven passive decoupled three degree-of-freedom serial shoulder joint, characterized by, The utility model relates to a three degrees of freedom series connection shoulder joint, including: Fixed base (7), which is provided with base decoupling mechanism (1); Shoulder one rotary joint (2) is arranged above the fixed base (7), and the shoulder one rotary joint (2) includes shoulder one rotor (201), shoulder one stator (202), first cross roller bearing (203), the shoulder one rotary joint (2) is connected with shoulder one rotary shaft (56) through shoulder one rotor (201), the base decoupling mechanism (1) is arranged between the shoulder one rotary joint (2) and the fixed base (7), and the base decoupling mechanism (1) is connected with the shoulder one rotary joint (2) through the shoulder one rotary shaft (56); Shoulder two pitch joint (3) is arranged above the shoulder one rotary joint (2) and is connected with the shoulder one rotor (201), and the shoulder two pitch joint (3) includes shoulder two stator (204), shoulder two rotor (205), shoulder two fixed shaft (206), shoulder two winding wheel (207), shoulder two coupling wheel, the shoulder two stator (204) is fixedly connected with shoulder one rotor (201) through connecting piece, the shoulder two fixed shaft (206) is fixedly connected with the shoulder two stator (204), the shoulder two winding wheel (207) is fixed on shoulder two rotor (205) and is arranged on both sides of the shoulder two fixed shaft (206); Shoulder three rotary joint (4) is arranged above the shoulder two pitch joint (3) and is connected with the shoulder two rotor (205), and the shoulder three rotary joint (4) includes shoulder three stator (208), shoulder three rotor (209), shoulder three winding wheel (210), second cross roller bearing (211), shoulder three rotary decoupling mechanism (212), shoulder three rotary shaft (34) is arranged in the shoulder three rotor (209), the shoulder three rotary decoupling mechanism (212) is connected with the shoulder three rotary joint (4) through the shoulder three rotary shaft (34); Wherein, the three degrees of freedom series connection shoulder joint further includes rear end joint driving rope (8), shoulder three joint driving rope (9), shoulder two joint coupling rope (10), shoulder one joint driving rope (12), shoulder one joint coupling rope (11) and shoulder two joint driving rope (13) on the shoulder joint; The shoulder one joint driving rope (12) is connected to the shoulder one rotor (201) through the shoulder one rotary joint (2), and the shoulder one joint driving rope (12) is used for driving shoulder one winding wheel (213) to rotate; One end of the shoulder one joint coupling rope (11) is fixed on shoulder one coupling wheel (55), and the other end is fixed on the fixed base (7); The shoulder two joint coupling rope (10) is connected to the fixed base (7) through the shoulder one rotary joint (2) and the base decoupling mechanism (1) in sequence; The shoulder two joint driving rope (13) is connected to the second motor winding wheel (6) on one end of the base decoupling mechanism (1). The shoulder three joint driving rope (9) is fixed at one end of the shoulder three rotor (209), and is connected to the third motor winding wheel through the shoulder two pitch joint (3), the shoulder one rotation joint (2) and the base decoupling mechanism (1) in sequence at the other end. The rear end joint driving rope (8) is fixed at one end of the rear end movable joint, and is connected to the first motor winding wheel (5) through the shoulder three rotation decoupling mechanism (212), the shoulder two pitch joint (3), the shoulder one rotation joint (2) and the base decoupling mechanism (1) in sequence at the other end.

2. The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint according to claim 1, wherein The shoulder one winding wheel (213), the shoulder two winding wheel (207), the shoulder three winding wheel (210) and the rear end movable joint are driven by the moment difference generated by the shoulder one joint driving rope (12), the shoulder two joint driving rope (13), the shoulder three joint driving rope (9) and the rear end joint driving rope (8).

3. The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint according to claim 1, wherein The shoulder three rotor (209) is connected with the inner ring of the second cross roller bearing (211), and the outer ring of the second cross roller bearing (211) is connected with the shoulder three stator (208); The shoulder two coupling wheel is connected with the shoulder two fixed shaft (206) through the first deep groove ball bearing (214), and the first shoulder two winding wheel (207) and the second shoulder two winding wheel (207) are connected with the shoulder two fixed shaft (206) through the second deep groove ball bearing (216) respectively; The shoulder one rotor (201) is connected with the inner ring of the first cross roller bearing (203), and the outer ring of the first cross roller bearing (203) is connected with the fixed base (7).

4. The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint according to claim 1, wherein The shoulder three rotation decoupling mechanism (212) comprises a shoulder three rotation shaft (34), a driving coupling wheel (35), a driven decoupling wheel set (37), a driving gear (31), a driven gear (32), a fixed gear (33), a driven support (36), a fixed coupling wheel (38), a shoulder three guide pulley (40) and a rear end guide pulley (41); The driving gear (31), the driven gear (32) and the fixed gear (33) constitute a planetary gear train, which constitutes a differential motion mechanism; The shoulder three winding wheel (210) drives the driving gear (31) to move through the shoulder three rotation shaft (34), the rotation speed of the driving gear (31) is same as that of the shoulder three rotation shaft (34), the driven gear (32) is meshed with the driving gear (31) and the fixed gear (33) respectively, and the fixed gear (33) is fixedly connected with the shoulder two pitch joint (3).

5. The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint according to claim 1, wherein The base decoupling mechanism (1) comprises a base coupling wheel (51), a first base reversing pulley (52), a first movable pulley set (53), a second movable pulley set (54), a shoulder one coupling wheel (55), a shoulder one rotary shaft (56), a shoulder one guide pulley (57), a linear guide rail and a sliding block (59); The shoulder one rotary joint (2) is connected with the shoulder one rotary shaft (56) through a shoulder one rotor (201), the shoulder one coupling wheel (55) is fixed on the output end of the shoulder one rotary shaft (56), and the shoulder one rotary joint (2), the shoulder one rotary shaft (56) and the shoulder one coupling wheel (55) rotate at the same angular velocity; One end of the shoulder one joint driving rope (12) is fixed on a shoulder one winding wheel (213), the other end of the shoulder one joint driving rope (12) is fixed on a first motor winding wheel (5), and the shoulder one joint driving rope (12) is composed of opening and closing lines and contraction lines with opposite winding directions; The fixed end of the shoulder one joint coupling rope (11) is fixed on the shoulder one coupling wheel (55), the movable end of the shoulder one joint coupling rope (11) is sequentially fixed on the fixed base (7) through the first base reversing pulley (52) and the first movable pulley set (53), and the shoulder one joint coupling rope is composed of opening and closing lines and contraction lines with opposite winding directions through the first base reversing pulley (52) and the first movable pulley set (53).

6. The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint according to claim 5, wherein One end of the shoulder two joint coupling rope (10) is fixed on a shoulder two rotor (205), opening and closing lines and contraction lines of the shoulder two joint coupling rope (10) pass through a shoulder two winding wheel (207) in opposite directions, drive the shoulder two pitch joint (3) to reverse, and an output end of the shoulder two joint coupling rope (10) is sequentially fixed on the fixed base (7) through the base coupling wheel (51), the first base reversing pulley (52), the first movable pulley set (53) and the second movable pulley set (54); One end of the shoulder two joint driving rope (13) is fixed on the first movable pulley set (53), the shoulder two joint driving rope (13) sequentially passes through a driving guide pulley (58), and the shoulder two joint driving rope (13) is wound on a second motor winding wheel (6) in opposite directions.

7. The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint according to claim 5, wherein One end of the shoulder three joint driving rope (9) is fixed on a shoulder three rotor (209), the shoulder three joint driving rope (9) sequentially passes through a shoulder three guide pulley (40), a shoulder two winding wheel (207), a base coupling wheel (51), a first base reversing pulley (52), a first movable pulley set (53) and a second movable pulley set (54), passes through a driving guide pulley (58), and is wound on a third motor winding wheel in opposite directions.

8. The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint according to claim 5, wherein One end of the rear joint driving rope (8) is fixed on the rear joint, and the rear joint driving rope (8) passes through the rear end guide pulley (41), the driving coupling wheel (35), the follow-up decoupling wheel set (37), the fixed coupling wheel (38), the shoulder two winding wheel (207), the base coupling wheel (51), the first base reversing pulley (52), the first movable pulley set (53), the second movable pulley set (54) in turn, and then passes through the driving guide pulley (58), and the rear joint driving rope (8) is wound on the fourth motor winding wheel in the opposite direction.

9. The rope-driven passive decoupling three-degree-of-freedom serial shoulder joint according to claim 1, characterized in that, The first movable pulley set (53) and the second movable pulley set (54) are installed on the sliding block (59), the sliding block (59) is installed on the linear guide rail, the sliding block (59) reciprocates linearly along the linear guide rail, and the linear guide rail is arranged on the fixed base (7).

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