A modular replaceable rope cluster driven segmented linkage flexible mechanical arm and loading and unloading method

Abstract

The present invention relates to a modular replaceable rope cluster driven segmented linkage flexible mechanical arm, comprising a driving box and an operating arm connected in sequence, wherein the driving box comprises a main body support module and a driving module for driving the mechanical arm to move linearly, and the driving module is arranged on the main body support module; the operating arm comprises a replacement module and an arm segment module connected in sequence, the replacement module is arranged in the main body support module, and the arm segment module is arranged outside the main body support module; the driving module also comprises a replaceable mechanism, and the driving module and the replacement module are respectively connected to the replaceable mechanism. The modular replaceable rope cluster driven segmented linkage flexible mechanical arm realizes modular disassembly of the rope driven linkage flexible mechanical arm, reduces the difficulty of overall installation and disassembly, and at the same time improves the repair and maintenance problem and solves the problem of disassembly of the whole machine.

Description

Technical Field

[0001] The invention relates to the field of mechanical arms, and in particular to a modular replaceable rope cluster driven segmented linkage flexible mechanical arm and a loading and unloading method. Background Art

[0002] The rope-driven linkage flexible manipulator adopts a structure of electromechanical separation and active-passive hybrid drive of the rope cluster. The motor is placed at the rear and remote power transmission is carried out through the rope cluster. It has the characteristics of slender body, flexible movement, small number of motors, high stiffness and load capacity, strong environmental adaptability, etc. It has important application value in many fields such as aerospace and civil charging. However, when the rope-driven linkage flexible manipulator transmits power remotely through the rope cluster, its movement needs to be transmitted to the kinematic pair on the manipulator by the motor through the drive rope, slider, wiring hole, etc. On the one hand, the overall transmission link is long and inconvenient to install and disassemble. On the other hand, the mechanism on the transmission link is tight, and the components cannot be replaced independently. The whole machine often needs to be disassembled during maintenance, which brings a huge workload. The problem that the rope-driven linkage flexible manipulator is not easy to install and repair and maintain greatly limits the development and debugging speed of the rope-driven linkage flexible manipulator and its application in actual scenarios. Summary of the invention

[0003] The present invention provides a modular replaceable rope cluster driven segmented linkage flexible mechanical arm and a loading and unloading method, 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 modular replaceable rope cluster driven segmented linkage flexible mechanical arm, comprising a driving box and an operating arm connected in sequence,

[0005] The driving box comprises a main body supporting module and a driving module for driving the mechanical arm to move linearly, and the driving module is arranged on the main body supporting module;

[0006] The operating arm comprises a replacement module and an arm segment module connected in sequence, the replacement module is arranged inside the main body support module, and the arm segment module is arranged outside the main body support module;

[0007] The driving module also includes a replaceable mechanism, and the driving module and the replacement module are respectively connected to the replaceable mechanism.

[0008] Furthermore, the main body support module includes an upper plate, a lower plate and a plurality of support plates, wherein the support plate is arranged between the upper plate and the lower plate.

[0009] A plurality of first notches are provided on one side of the upper plate connected to the support plate, and a plurality of second notches are provided on one side of the lower plate connected to the support plate. The positions of the first notches and the second notches are corresponding to each other. The upper side of the support plate can be optionally connected to the first notches, and the lower side of the support plate is connected to the second notches corresponding to the positions of the first notches.

[0010] An insertion hole for installing the operating arm is provided in the middle of the upper plate;

[0011] The support plate is provided with a hollow area.

[0012] Further, the driving module includes a motor driver, a motor, a motor mounting seat, a coupling, a first screw mounting seat, a screw guide rail mechanism and a second screw mounting seat which are connected in sequence, and the screw guide rail mechanism includes a screw, a guide rail, a slider and a connecting block;

[0013] The drive module is fixed to the support plate through a motor mounting seat, a first screw mounting seat and a second screw mounting seat;

[0014] The first end of the lead screw passes through the first lead screw mounting seat and is connected to the coupling, the second end of the lead screw is connected to the second lead screw mounting seat, the guide rail is arranged on the support plate, the slider is arranged on the guide rail, the connecting block and the lead screw form a spiral pair, the first end of the connecting block is fixed on the slider, and the second end of the connecting block is connected to the replacement module.

[0015] Further, the arm segment module comprises a base and a linkage joint segment connected in sequence, and the linkage joint segment comprises a plurality of sets of central blocks and connecting rods connected alternately in sequence;

[0016] The central block is a kinematic pair of the robot arm, and each central block includes a first rotation axis and a second rotation axis arranged orthogonally;

[0017] The two center blocks connected to the two ends of the same connecting rod are connected through a set of sleeves, a set of large "8" linkage mechanisms and a set of small "8" linkage mechanisms. The large "8" linkage mechanism and the small "8" linkage mechanism are based on the antagonistic principle to achieve the same rotation angle of the two center blocks connected to the two ends of the same connecting rod in the same direction of movement, wherein:

[0018] The small "8"-shaped linkage mechanism comprises a first small "8"-shaped linkage rope and a second small "8"-shaped linkage rope arranged on both sides of the central block;

[0019] The large "8"-shaped linkage mechanism comprises a first large "8"-shaped linkage rope, a second large "8"-shaped linkage rope, a first sleeve and a second sleeve, and the first sleeve and the second sleeve are arranged in the connecting rod.

[0020] Furthermore, the linkage joint section includes a first central block, a first connecting rod, a second central block, a second connecting rod, a third central block, a third connecting rod, a fourth central block and a fourth connecting rod connected in sequence, and a first end of the first central block is connected to the base.

[0021] Further, the replacement module includes a retaining frame, an upper connecting plate, a pillar and a pulley seat connected in sequence, and also includes a connecting block sleeved on the pillar, a connecting terminal is provided on the connecting block, a driving rope is provided between the connecting terminal and the retaining frame, and an elastic rubber band is provided between the connecting terminal and the pulley seat.

[0022] The top of the retainer is connected to the base through a threaded fastener, and a wire groove is provided on the upper connecting plate. After the drive rope passes through the wire groove, it is connected to the top of the connecting terminal through a die-cast threaded head.

[0023] A first screw is also provided at the lower end of the connecting terminal, the upper end of the elastic rubber band is fixed to the connecting terminal via the first screw, and the lower end of the elastic rubber band is fixed to the pulley seat.

[0024] Furthermore, the pulley seat comprises an upper pulley seat plate and a lower pulley seat plate.

[0025] A plurality of pulleys are arranged on the outer side of the lower plate of the pulley seat, and the second end of the elastic rubber band is fixed in the wire groove of the lower plate of the pulley seat after passing through the pulley. A second screw for fixing the second end of the elastic rubber band is also arranged on the wire groove of the lower plate of the pulley seat.

[0026] Further, the replaceable mechanism includes a left connecting rod, a right connecting rod, a middle connecting rod, a tension spring, a push rod, a telescopic member and a compression spring;

[0027] A first slide groove is provided on the connecting block of the driving module, a first pin is provided on the first slide groove, and the first pin passes through the first end of the left connecting rod, the first end of the push rod and the first end of the right connecting rod in sequence;

[0028] The second end of the left connecting rod and the second end of the right connecting rod are respectively connected to the middle connecting rod, the first end of the tension spring is connected to the connecting block of the driving module, the second end of the tension spring is connected to one end of the middle connecting rod, the middle part of the middle connecting rod is connected to the connecting block of the driving module, the second end of the push rod is connected to the telescopic member through the compression spring, the telescopic member is provided with a second slide groove, and the second slide groove is provided with a second pin.

[0029] Further, a protrusion is provided at the tail end of the middle connecting rod, and when the middle connecting rod rotates clockwise or counterclockwise, the protrusion contacts or disengages from the die-cast thread head;

[0030] A protruding portion is provided on the second side of the telescopic member, and when the connecting block on the driving module approaches or moves away from the elastic rubber band of the replacement module, the elastic rubber band enters or leaves the protruding portion.

[0031] Furthermore, the present invention also proposes a method for loading and unloading a modular replaceable rope cluster driven segmented linkage flexible mechanical arm, which is applied to the modular replaceable rope cluster driven segmented linkage flexible mechanical arm. The method for loading and unloading a modular replaceable rope cluster driven segmented linkage flexible mechanical arm comprises the following steps:

[0032] S100, in the initial state, the drive box and the operating arm are separated, and in the drive box, under the action of the tension spring, the replaceable mechanism is in a disengaged state, at which time the push rod is at the far left end, the sum of the lengths of the push rod and the telescopic member reaches the maximum, and the telescopic member is just completely received in the connecting block without colliding with other parts;

[0033] S200, the operating arm is inserted into the drive box through the insertion hole and fixed by a threaded fastener;

[0034] S300, the driving connection block of the driving module moves upward until the middle connecting rod contacts the connection terminal, after which the connection terminal presses the middle connecting rod relative to the connection block, and the push rod moves to the right. Under the action of the compression spring, the sum of the lengths of the push rod and the telescopic member reaches a maximum until the telescopic member contacts the connection terminal;

[0035] S400, after the telescopic member contacts the connection terminal, as the connection block continues to move, the connection terminal maintains linear motion under the action of the connection block and provides a leftward force to the telescopic member, and the sum of the lengths of the push rod and the telescopic member ensures that no interference occurs;

[0036] S500, as the connection block continues to move, the telescopic member loses the force to the left, and moves to the right under the action of the compression spring, snapping into the connection terminal, thereby achieving connection;

[0037] S600. During the dismantling process, all the connection blocks are driven to move upward at the same time. At this time, the drive rope will lose its warning force, causing the connection between the connection terminal and the telescopic part to fall off. To ensure complete detachment, the drive rope is moved from the retaining frame. At this time, the operating arm can be pulled out from the drive box after removing the threaded connection.

[0038] The beneficial effects of the present invention are:

[0039] The modular replaceable rope cluster driven segmented linkage flexible robotic arm realizes modular disassembly of the rope driven linkage flexible robotic arm, reduces the difficulty of overall installation and disassembly, improves the repair and maintenance problem, and solves the problem of disassembly of the entire machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of a modular replaceable rope cluster driven segmented linkage flexible robotic arm.

[0041] Figure 2 It is a schematic diagram of the module division of the module-replaceable rope cluster-driven segmented linkage flexible robotic arm.

[0042] Figure 3 It is a structural schematic diagram of a drive module of a segmented linkage flexible robotic arm driven by a module-replaceable rope cluster.

[0043] Figure 4 It is a structural schematic diagram of the main body support module in the module-replaceable rope cluster driven segmented linkage flexible robotic arm.

[0044] Figure 5 It is a structural schematic diagram of the arm segment module in the module-replaceable rope cluster driven segmented linkage flexible robotic arm.

[0045] Figure 6 It is a structural schematic diagram of the small "8"-shaped linkage mechanism in the arm segment module of the module-replaceable rope cluster-driven segmented linkage flexible robotic arm.

[0046] Figure 7 It is a structural schematic diagram of the large "8"-shaped linkage mechanism in the arm segment module of the module-replaceable rope cluster-driven segmented linkage flexible robotic arm.

[0047] Figure 8 It is a schematic diagram of the principle of the linkage mechanism in the arm segment module of the modular replaceable rope cluster driven segmented linkage flexible robotic arm.

[0048] Fig. 9 It is a structural schematic diagram of replacing modules in a module-replaceable rope cluster-driven segmented linkage flexible robotic arm.

[0049] Fig.10 Schematic diagram of the structure of the pulley seat in the modular replaceable rope cluster driven segmented linkage flexible robotic arm.

[0050] Fig.11 Schematic diagram of the structure of the replaceable mechanism in the modular replaceable rope cluster driven segmented linkage flexible robotic arm.

[0051] Fig.12 Schematic diagram of partial structural explosion of replaceable mechanisms in a modular replaceable rope cluster driven segmented linkage flexible robotic arm.

[0052] Fig.13 Schematic diagram of the replaceable mechanism in the modular replaceable rope cluster driven segmented linkage flexible robotic arm.

[0053] Fig.14 Schematic diagram of the installation of replaceable mechanisms in a modular replaceable rope cluster driven segmented linkage flexible robotic arm.

[0054] Fig.15 The present invention is a flow chart of a method for loading and unloading a modular replaceable rope cluster driven segmented linkage flexible robotic arm.

[0055] Reference numerals: 1000, drive box; 1100, main body support module; 1110, support plate; 1120, upper plate; 1121, first notch; 1122, insertion hole; 1130, lower plate; 1131, second notch; 1200, drive module; 1211, motor; 1212, motor driver; 1220, motor mounting seat; 1230, first lead screw mounting seat; 1240, lead screw; 1250, connecting block; 1260, second lead screw mounting seat; 1270, slider; 1280, guide rail; 1290, coupling; 1251, left connecting rod; 1252, middle connecting rod; 1253, push rod; 1254, telescopic member; 1255, extension spring; 1256, compression spring; 1257, first slide slot; 1258, first pin; 1259, second slide slot; 1262, second pin; 1261, right connecting rod; 2000, operating arm; 2100, arm segment module; 2110, base; 2120, center block; 2130, connecting rod; 2140, sleeve; 2141, first sleeve; 2142, second sleeve; 2150, large "8" linkage mechanism; 2151, first large "8" linkage rope; 2152, second large "8" linkage rope; 2160, small "8" linkage mechanism; 2161, first small "8" linkage rope; 2162, second small "8" linkage rope; 2200, replacement module; 2210, retaining frame; 2220, upper connecting plate; 2230, pillar; 2240, drive rope; 2241, die-cast threaded head; 2250, connecting terminal; 2251, first screw; 2260, connecting block; 2270, elastic rubber band; 2280, pulley seat; 2281, pulley seat upper plate; 2282, pulley; 2283, pulley seat lower plate; 2284, second screw. DETAILED DESCRIPTION

[0056] 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 without conflict.

[0057] 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 it may be indirectly fixed or connected to the other feature. In addition, the descriptions of up, down, left, right, top, bottom, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the drawings.

[0058] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and / or" used herein includes any combination of one or more related listed items.

[0059] 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, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0060] Reference Figures 1 to 15 In some embodiments, the technical solution of the present invention is a modular replaceable rope cluster driven segmented linkage flexible mechanical arm, referring to Figure 1 , including a driving box 1000 and an operating arm 2000 connected in sequence,

[0061] The driving box 1000 includes a main body supporting module 1100 and a driving module 1200 for driving the mechanical arm to move linearly, and the driving module 1200 is arranged on the main body supporting module 1100;

[0062] The operating arm 2000 includes a replacement module 2200 and an arm segment module 2100 which are connected in sequence, the replacement module 2200 is arranged inside the main body supporting module 1100, and the arm segment module 2100 is arranged outside the main body supporting module 1100;

[0063] The driving module 1200 also includes a replaceable mechanism, and the driving module 1200 and the replacement module 2200 are respectively connected to the replaceable mechanism.

[0064] The beneficial effects of the present invention are:

[0065] The modular replaceable rope cluster driven segmented linkage flexible robotic arm realizes modular disassembly of the rope driven linkage flexible robotic arm, reduces the difficulty of overall installation and disassembly, improves the repair and maintenance problem, and solves the problem of disassembly of the entire machine.

[0066] Specifically, the rope-driven linkage flexible robotic arm described in the present invention can reduce the difficulty of installation through the "module-complete machine" installation process during the installation process, and at the same time increase the installation speed with the help of a replaceable mechanism; during the repair and maintenance process, the drive box and the operating arm can be quickly disassembled through the replaceable mechanism, and then the modular components therein can be repaired and maintained, and there is no need to disassemble the entire machine. After the maintenance is completed, it can also be quickly installed directly through the replaceable mechanism, which improves the problem that the rope-driven linkage flexible robotic arm is difficult to install and repair and maintain.

[0067] Further, refer to Figure 2 and Figure 4 The main body support module 1100 includes an upper plate 1120, a lower plate 1130 and a plurality of support plates 1110, wherein the support plates 1110 are disposed between the upper plate 1120 and the lower plate 1130.

[0068] A plurality of first notches 1121 are provided on one side of the upper plate 1120 connected to the support plate 1110, and a plurality of second notches 1131 are provided on one side of the lower plate 1130 connected to the support plate 1110. The positions of the first notches 1121 and the second notches 1131 are corresponding to each other. The upper side of the support plate 1110 may be optionally connected to the first notches 1121, and the lower side of the support plate 1110 may be connected to the second notches 1131 corresponding to the positions of the first notches 1121.

[0069] The middle portion of the upper plate 1120 is provided with an insertion hole 1122 for mounting the operating arm;

[0070] The support plate 1110 is provided with a hollow area.

[0071] Specifically, the first notch 1121 and the second notch 1131 are in a matching relationship with the support plate 1110, so that the support plate 1110 can be freely disassembled after the drive box 1000 is installed. At the same time, the upper plate 1120 is provided with an insertion hole 1122, and the insertion hole 1122 is used to insert the operating arm 2000. The hollow area on the support plate 1110 can reduce the weight of the whole machine and improve the control accuracy.

[0072] Further, refer to Figure 3 The driving module 1200 includes a motor driver 1212, a motor 1211, a motor mounting seat 1220, a coupling 1290, a first screw mounting seat 1230, a screw guide rail mechanism and a second screw mounting seat 1260 which are connected in sequence, and the screw guide rail mechanism includes a screw 1240, a guide rail 1280, a slider 1270 and a connecting block 1250;

[0073] The driving module 1200 is fixed on the support plate 1110 through the motor mounting seat 1220, the first screw mounting seat 1230 and the second screw mounting seat 1260;

[0074] The first end of the lead screw 1240 passes through the first lead screw mounting seat 1230 and is connected to the coupling 1290, the second end of the lead screw 1240 is connected to the second lead screw mounting seat 1260, the guide rail 1280 is arranged on the support plate 1110, the slider 1270 is arranged on the guide rail 1280, the connecting block 1250 forms a spiral pair with the lead screw 1240, the first end of the connecting block 1250 is fixed on the slider 1270, and the second end of the connecting block 1250 is connected to the replacement module 2200.

[0075] Specifically, the working principle of the driving module 1200 is that the motor 1211 performs rotational motion after receiving the instruction of the motor driver 1212, transmits the motion to the screw 1240 through the coupling 1290, and further converts the rotational motion into linear motion of the connecting block 1250 through the screw guide rail mechanism composed of the screw 1240, the connecting block 1250, the guide rail 1280 and the slider 1270. To facilitate the maintenance of the drive module 1200, the drive module 1200 is fixed to the support plate 1110 by means of the motor mounting seat 1220, the first screw mounting seat 1230 and the second screw mounting seat 1260, and can be freely disassembled together with the support plate 1110. When a certain group of the drive modules 1200 needs to be installed or removed, it can be directly pulled out from the drive box 1000 after the relevant threaded connectors are disassembled, or directly inserted into the first slot 1121 and the second slot 1131 and connected through threaded fasteners, without affecting other modules.

[0076] Further, refer to Figures 5 to 8 The arm segment module 2100 includes a base 2110 and a linkage joint segment connected in sequence, and the linkage joint segment includes a plurality of sets of central blocks 2120 and connecting rods 2130 connected alternately in sequence;

[0077] The central block 2120 is a kinematic pair of the robot arm, and each central block 2120 includes a first rotation axis and a second rotation axis that are orthogonally arranged;

[0078] The two central blocks 2120 connected to the two ends of the same connecting rod 2130 are connected through a set of sleeves 2140, a set of large "8"-shaped linkage mechanisms 2150 and a set of small "8"-shaped linkage mechanisms 2160. The large "8"-shaped linkage mechanisms 2150 and the small "8"-shaped linkage mechanisms 2160 are based on the antagonistic principle to achieve the same rotation angle of the two central blocks 2120 connected to the two ends of the same connecting rod 2130 in the same direction of movement.

[0079] The small "8"-shaped linkage mechanism 2160 includes a first small "8"-shaped linkage rope 2161 and a second small "8"-shaped linkage rope 2162 arranged on both sides of the central block;

[0080] The large "8"-shaped linkage mechanism 2150 includes a first large "8"-shaped linkage rope 2151, a second large "8"-shaped linkage rope 2152, a first sleeve 2141 and a second sleeve 2142, wherein the first sleeve 2141 and the second sleeve 2142 are arranged in the connecting rod.

[0081] Specifically, the center block 2120 is a kinematic pair of the robot arm, which has two orthogonal rotation axes and two degrees of freedom, and can realize movement in two directions: pitch (Pitch, abbreviated as P) and yaw (Yaw, abbreviated as Y).

[0082] Reference Fig.10 The two center blocks 2120 connected to the same connecting rod 2130 form a small "8" linkage mechanism and a large "8" linkage mechanism through a set of sleeves 2140, a set of large "8" linkage ropes 2150 and a set of small "8" linkage ropes 2160. The small "8" linkage mechanism and the large "8" linkage mechanism both use the antagonism principle to achieve the same rotation angle of the two center blocks 2120 in the same direction of movement. Among them, the small "8" linkage mechanism is realized by a set of small "8" linkage ropes 2160, including a first small "8" linkage rope 2161 and a second small "8" linkage rope 2162 arranged on both sides of the center block 2120; and the large "8" linkage mechanism, in addition to a set of large "8" linkage ropes composed of the first large "8" linkage rope 2151 and the second large "8" linkage rope 2152, also needs a set of sleeves arranged in the connecting rod 2130 to ensure that the large "8" linkage mechanism meets the antagonism principle.

[0083] Further, refer to Figure 5 The linkage joint section includes a first central block, a first connecting rod, a second central block, a second connecting rod, a third central block, a third connecting rod, a fourth central block and a fourth connecting rod connected in sequence, and the first end of the first central block is connected to the base.

[0084] Further, refer to Fig. 9The replacement module 2200 includes a holder 2210, an upper connecting plate 2220, a pillar 2230 and a pulley seat 2280 connected in sequence, and also includes a connection block 2260 sleeved on the pillar 2230, on which a connection terminal 2250 is provided, a driving rope 2240 is provided between the connection terminal 2250 and the holder 2210, and an elastic rubber band 2270 is provided between the connection terminal 2250 and the pulley seat 2280,

[0085] The top of the retaining frame 2210 is connected to the base 2110 through a threaded fastener, and a wire groove is provided on the upper connecting plate 2220. After the driving rope 2240 passes through the wire groove, it is connected to the top of the connecting terminal 2250 through a die-cast thread head 2241.

[0086] A first screw 2251 is further provided at the lower end of the connecting terminal 2250 , the upper end of the elastic rubber band 2270 is fixed to the connecting terminal 2250 via the first screw 2251 , and the lower end of the elastic rubber band 2270 is fixed to the pulley seat 2280 .

[0087] Specifically, the replacement module 2200 can be connected to the arm segment module 2100 to form an operating arm 2000, and the connection method is: a mechanical interface that cooperates between the upper part of the retaining frame 2210 and the base 2110, and a mechanical connection can be achieved using threaded fasteners. After the connection, the driving rope 2240 passes through the wire groove of the upper connecting plate 2220, and is threadedly connected to the upper part of the connecting terminal 2250 through the die-cast threaded head 2241 at its end. At the same time, the lower end of the connecting terminal 2250 is fixed to one end of the elastic rubber band 2270 by a first screw 2251.

[0088] Further, refer to Fig.10 The pulley seat 2280 includes a pulley seat upper plate 2281 and a pulley seat lower plate 2283.

[0089] A plurality of pulleys 2282 are arranged on the outer side of the pulley seat lower plate 2283, and the second end of the elastic rubber band 2270 passes through the pulley 2282 and is fixed in the wire groove of the pulley seat lower plate 2283. A second screw 2284 for fixing the second end of the elastic rubber band 2270 is also arranged on the wire groove of the pulley seat lower plate 2283.

[0090] Specifically, the other end of the elastic rubber band 2270 passes through the pulley 2282 in the pulley seat 2280 and is fixed in the groove of the lower plate 2283 of the pulley seat by the second screw 2284. The guiding effect of the wire groove of the pulley seat 2280 and the upper connecting plate 2220 and the elastic effect of the elastic rubber band 2270 can be used to tension the drive rope 2240, which is convenient for further installation. The magnitude of the tensioning force can be achieved by adjusting the initial length of the elastic rubber band 2270 by the first screw 2251 and the second screw 2284.

[0091] Further, refer to Figures 11 to 13 , the replaceable mechanism includes a left connecting rod 1251, a right connecting rod 1261, a middle connecting rod 1252, a tension spring 1255, a push rod 1253, a telescopic member 1254 and a compression spring 1256;

[0092] The connecting block 1250 of the driving module 1200 is provided with a first slide slot 1257, and the first slide slot 1257 is provided with a first pin 1258, and the first pin 1258 passes through the first end of the left connecting rod 1251, the first end of the push rod 1253 and the first end of the right connecting rod 1261 in sequence;

[0093] The second end of the left connecting rod 1251 and the second end of the right connecting rod 1261 are respectively connected to the middle connecting rod 1252, the first end of the tension spring 1255 is connected to the connecting block 1250 of the driving module 1200, the second end of the tension spring 1255 is connected to one end of the middle connecting rod 1252, the middle part of the middle connecting rod 1252 is connected to the connecting block 1250 of the driving module 1200, the second end of the push rod 1253 is connected to the telescopic member 1254 through the compression spring 1256, the telescopic member 1254 is provided with a second slide groove 1259, and the second slide groove 1259 is provided with a second pin 1262.

[0094] Specifically, based on the above modular rope-driven linked flexible robotic arm design, in order to achieve stable and rapid loading and unloading of the drive box 1000 and the operating arm 2000, a replaceable mechanism is arranged on the drive module 1200 and the replacement module 2200, which can realize the rapid replacement of the operating arm and the drive box of the rope-driven linked flexible robotic arm.

[0095] The connecting block 1250, the left connecting rod 1251, the right connecting rod 1261, the middle connecting rod 1252, and the push rod 1253 constitute a moving guide rod mechanism and are limited by the first pin 1258 and the first sliding groove 1257. When the middle connecting rod 1252 moves clockwise, the push rod 1253 is driven to move to the right by the left connecting rod 1251 and the right connecting rod 1261. When the middle connecting rod 1252 moves counterclockwise, the push rod 1253 is driven to move to the left by the left connecting rod 1251 and the right connecting rod 1261.

[0096] Reference Fig.13 The push rod 1253 and the telescopic member 1254 are arranged with a compression spring 1256 and the movement is restricted by the second pin 1262 and the second slide groove 1259. Under the action of the compression spring 1256, it can be ensured that when the telescopic member 1254 is not subjected to the left force, the sum of the lengths of the push rod 1253 and the telescopic member 1254 reaches the maximum. When the telescopic member 1254 is hindered by the left force, the sum of the lengths of the push rod 1253 and the telescopic member 1254 can be changed to ensure that there is no interference with other components.

[0097] Further, refer to Figures 11 to 13 The tail end of the middle connecting rod 1252 is provided with a protrusion, and when the middle connecting rod 1252 rotates clockwise or counterclockwise, the protrusion contacts or disengages from the die-cast thread head 2241;

[0098] A protruding portion is disposed on the second side of the telescopic member 1254 , and when the connecting block 1250 on the driving module 1200 approaches or moves away from the elastic rubber band 2270 of the replacement module 2200 , the elastic rubber band 2270 enters or leaves the protruding portion.

[0099] Further, refer to Figure 14 to Figure 15 The present invention also proposes a method for loading and unloading a modular replaceable rope cluster driven segmented linkage flexible mechanical arm, which is applied to the modular replaceable rope cluster driven segmented linkage flexible mechanical arm. The method for loading and unloading a modular replaceable rope cluster driven segmented linkage flexible mechanical arm comprises the following steps:

[0100] S100, in the initial state, the driving box 1000 and the operating arm 2000 are separated, and in the driving box 1000, under the action of the tension spring 1255, the replaceable mechanism 3000 is in a disengaged state, at which time the push rod 1253 is located at the leftmost end, and the sum of the lengths of the push rod 1253 and the telescopic member 1254 reaches the maximum, and the telescopic member 1254 is just completely received in the connecting block 1250, and will not collide with other components;

[0101] S200, the operating arm 2000 is inserted into the driving box 1000 through the insertion hole 1122 and fixed by a threaded fastener;

[0102] S300, the driving connection block 1250 of the driving module 1200 moves upward until the middle connecting rod 1252 contacts the connecting terminal 2250, after which the connecting terminal 2250 presses the middle connecting rod 1252 relative to the connecting block 1250, and the push rod 1253 moves rightward. Under the action of the compression spring 1256, the sum of the lengths of the push rod 1253 and the telescopic member 1254 reaches a maximum until the telescopic member 1254 contacts the connecting terminal 2250;

[0103] S400, after the telescopic member 1254 contacts the connection terminal 2250, as the connection block 1250 continues to move, the connection terminal 2250 maintains linear motion under the action of the connection stopper 2260 and provides a leftward force to the telescopic member 1254, and the sum of the lengths of the push rod 1253 and the telescopic member 1254 ensures that no interference occurs;

[0104] S500, as the connection block 1250 continues to move, the telescopic member 1254 loses the force to the left, and moves to the right under the action of the compression spring 1256, and snaps into the connection terminal 2250, thereby achieving connection;

[0105] S600, during the dismantling process, all the connecting blocks 1250 are driven to move upward at the same time. At this time, the driving rope 2240 will lose its warning force, causing the connection between the connecting terminal 2250 and the telescopic member 1254 to fall off. To ensure complete detachment, the driving rope 2240 is moved from the retaining frame 2210. At this time, the operating arm 2000 can be pulled out from the driving box 1000 after removing the threaded connection.

[0106] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of protection of the present disclosure. All should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A modular replaceable rope cluster driven segmented linkage flexible mechanical arm, characterized in that: It comprises a driving box (1000) and an operating arm (2000) which are connected in sequence. The driving box (1000) comprises a main body supporting module (1100) and a driving module (1200) for driving the mechanical arm to move linearly, and the driving module (1200) is arranged on the main body supporting module (1100); The operating arm (2000) comprises a replacement module (2200) and an arm segment module (2100) which are connected in sequence, the replacement module (2200) being arranged inside the main body support module (1100), and the arm segment module (2100) being arranged outside the main body support module (1100); The driving module (1200) also includes a replaceable mechanism, and the driving module (1200) and the replacement module (2200) are respectively connected to the replaceable mechanism; The main body support module (1100) comprises an upper plate (1120), a lower plate (1130), and a plurality of support plates (1110), wherein the support plate (1110) is arranged between the upper plate (1120) and the lower plate (1130). A plurality of first notches (1121) are provided on one side of the upper plate (1120) connected to the support plate (1110), and a plurality of second notches (1131) are provided on one side of the lower plate (1130) connected to the support plate (1110), wherein the positions of the first notches (1121) and the second notches (1131) are corresponding to each other, the upper side of the support plate (1110) is connected to the first notches (1121), and the lower side of the support plate (1110) is connected to the second notches (1131) corresponding to the positions of the first notches (1121). An insertion hole (1122) for mounting the operating arm is provided in the middle of the upper plate (1120); The support plate (1110) is provided with a hollow area; The drive module (1200) comprises a motor driver (1212), a motor (1211), a motor mounting seat (1220), a coupling (1290), a first lead screw mounting seat (1230), a lead screw guide rail mechanism and a second lead screw mounting seat (1260) which are connected in sequence; the lead screw guide rail mechanism comprises a lead screw (1240), a guide rail (1280), a slider (1270) and a connecting block (1250); The driving module (1200) is fixed on the support plate (1110) via a motor mounting seat (1220), a first lead screw mounting seat (1230) and a second lead screw mounting seat (1260); The first end of the lead screw (1240) passes through the first lead screw mounting seat (1230) and is connected to the coupling (1290), the second end of the lead screw (1240) is connected to the second lead screw mounting seat (1260), the guide rail (1280) is arranged on the support plate (1110), the slider (1270) is arranged on the guide rail (1280), the connecting block (1250) and the lead screw (1240) form a spiral pair, the first end of the connecting block (1250) is fixed on the slider (1270), and the second end of the connecting block (1250) is connected to the replacement module (2200); The replacement module (2200) comprises a retaining frame (2210), an upper connecting plate (2220), a pillar (2230) and a pulley seat (2280) which are connected in sequence, and also comprises a connecting block (2260) sleeved on the pillar (2230), a connecting terminal (2250) being provided on the connecting block (2260), a driving rope (2240) being provided between the connecting terminal (2250) and the retaining frame (2210), and an elastic rubber band (2270) being provided between the connecting terminal (2250) and the pulley seat (2280). The top of the retaining frame (2210) is connected to the base (2110) via a threaded fastener, and a wire passing groove is provided on the upper connecting plate (2220). After passing through the wire passing groove, the driving rope (2240) is connected to the top of the connecting terminal (2250) via a die-cast threaded head (2241). The lower end of the connecting terminal (2250) is further provided with a first screw (2251), the upper end of the elastic rubber band (2270) is fixed to the connecting terminal (2250) via the first screw (2251), and the lower end of the elastic rubber band (2270) is fixed to the pulley seat (2280); The replaceable mechanism comprises a left connecting rod (1251), a right connecting rod (1261), a middle connecting rod (1252), a tension spring (1255), a push rod (1253), a telescopic member (1254) and a compression spring (1256); A first slide groove (1257) is provided on the connecting block (1250) of the driving module (1200), and a first pin (1258) is provided on the first slide groove (1257), and the first pin (1258) passes through the first end of the left connecting rod (1251), the first end of the push rod (1253) and the first end of the right connecting rod (1261) in sequence; The second end of the left connecting rod (1251) and the second end of the right connecting rod (1261) are respectively connected to the middle connecting rod (1252); the first end of the tension spring (1255) is connected to the connecting block (1250) of the driving module (1200); the second end of the tension spring (1255) is connected to one end of the middle connecting rod (1252); the middle of the middle connecting rod (1252) is connected to the connecting block (1250) of the driving module (1200); the second end of the push rod (1253) is connected to the telescopic member (1254) via the compression spring (1256); the telescopic member (1254) is provided with a second slide groove (1259); and the second slide groove (1259) is provided with a second pin (1262); The tail end of the middle connecting rod (1252) is provided with a protrusion, and when the middle connecting rod (1252) rotates clockwise or counterclockwise, the protrusion contacts or discontinuities with the die-cast thread head (2241); The second side of the telescopic member (1254) is provided with a protruding portion, and when the connecting block (1250) on the driving module (1200) approaches or moves away from the elastic rubber band (2270) of the replacement module (2200), the elastic rubber band (2270) enters or leaves the protruding portion.

2. The modular replaceable rope cluster driven segmented linkage flexible mechanical arm according to claim 1, characterized in that: The arm segment module (2100) comprises a base (2110) and a linkage joint segment that are connected in sequence, and the linkage joint segment comprises a plurality of sets of central blocks (2120) and connecting rods (2130) that are alternately connected in sequence; The central block (2120) is a kinematic pair of the robot arm, and each central block (2120) comprises a first rotation axis and a second rotation axis that are orthogonally arranged; The two central blocks connected to the two ends of the same connecting rod are connected via a set of sleeves (2140), a set of large "8"-shaped linkage mechanisms (2150) and a set of small "8"-shaped linkage mechanisms (2160), and both the large "8"-shaped linkage mechanisms (2150) and the small "8"-shaped linkage mechanisms (2160) are based on the antagonism principle to achieve the same rotation angle of the two central blocks (2120) connected to the two ends of the same connecting rod (2130) in the same direction of movement; The small "8"-shaped linkage mechanism (2160) comprises a first small "8"-shaped linkage rope (2161) and a second small "8"-shaped linkage rope (2162) arranged on both sides of the central block; The large "8"-shaped linkage mechanism (2150) comprises a first large "8"-shaped linkage rope (2151), a second large "8"-shaped linkage rope (2152), a first sleeve (2141) and a second sleeve (2142), wherein the first sleeve (2141) and the second sleeve (2142) are arranged in the connecting rod (2130).

3. The modular replaceable rope cluster driven segmented linkage flexible mechanical arm according to claim 2, characterized in that: The linkage joint section includes a first central block, a first connecting rod, a second central block, a second connecting rod, a third central block, a third connecting rod, a fourth central block and a fourth connecting rod which are connected in sequence, and a first end of the first central block is connected to the base.

4. The modular replaceable rope cluster driven segmented linkage flexible mechanical arm according to claim 1, characterized in that: The pulley seat (2280) comprises a pulley seat upper plate (2281) and a pulley seat lower plate (2283). A plurality of pulleys (2282) are arranged on the outer side of the pulley seat lower plate (2283); the second end of the elastic rubber band (2270) passes through the pulley (2282) and is fixed in a wire groove of the pulley seat lower plate (2283); and a second screw (2284) for fixing the second end of the elastic rubber band (2270) is also arranged on the wire groove of the pulley seat lower plate (2283).

5. A method for loading and unloading a modular replaceable rope cluster driven segmented linkage flexible mechanical arm, applied to the modular replaceable rope cluster driven segmented linkage flexible mechanical arm as claimed in any one of claims 1 to 4, characterized in that: The module replaceable rope cluster driven segmented linkage flexible mechanical arm loading and unloading method comprises the following steps: S100, in the initial state, the drive box (1000) and the operating arm (2000) are separated, and in the drive box (1000), under the action of the tension spring (1255), the replaceable mechanism is in a disengaged state, at which time the push rod (1253) is located at the leftmost end, the sum of the lengths of the push rod (1253) and the telescopic member (1254) reaches the maximum, and the telescopic member (1254) is just completely received in the connecting block (1250) and will not collide with other components; S200, the operating arm (2000) is inserted into the drive box (1000) through the insertion hole (1122) and fixed by a threaded fastener; S300, the connecting block (1250) of the driving module (1200) moves upward until the middle connecting rod (1252) contacts the connecting terminal (2250), after which the connecting terminal (2250) presses the middle connecting rod (1252) downward relative to the connecting block (1250), and the push rod (1253) moves rightward. Under the action of the compression spring (1256), the sum of the lengths of the push rod (1253) and the telescopic member (1254) reaches a maximum until the telescopic member (1254) contacts the connecting terminal (2250); S400, after the telescopic member (1254) contacts the connecting terminal (2250), as the connecting block (1250) continues to move, the connecting terminal (2250) maintains linear motion under the action of the connecting block (2260) and provides a leftward force to the telescopic member (1254), and the sum of the lengths of the push rod (1253) and the telescopic member (1254) ensures that no interference occurs; S500, as the connection block (1250) continues to move, the telescopic member (1254) loses its force to the left, and moves to the right under the action of the compression spring (1256), snapping into the connection terminal (2250), thereby achieving connection; S600, during the dismantling process, all the connection blocks (1250) are driven to move upward at the same time. At this time, the drive rope (2240) will lose its pre-tightening force, causing the connection between the connection terminal (2250) and the telescopic member (1254) to fall off. To ensure complete detachment, the drive rope (2240) is moved from the retaining frame (2210). At this time, the operating arm (2000) can be pulled out from the drive box (1000) after removing the threaded connection.

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