Active and passive hybrid driving module and method for rope cluster of space flexible mechanical arm

Abstract

The invention discloses a space flexible mechanical arm rope cluster active and passive hybrid driving module and method.The space flexible mechanical arm rope cluster active and passive hybrid driving module comprises a rope cluster multi-axis driving module, the rope cluster multi-axis driving module comprises a plurality of rope cluster driving modules, each rope cluster driving module comprises a rope driving mechanism and a driving rope, one end of each driving rope is connected with the corresponding rope driving mechanism and is driven by the corresponding rope driving mechanism to linearly move, and the other end of each driving rope is driven by the corresponding rope driving mechanism; the other end of the driving rope is connected with a kinematic pair of any arm section in the arm section; and the segmented equal-curvature linkage module provides constraint for all the arm sections in the arm sections, the same-direction moving shafts of all the arm sections in the arm sections are coupled together through linkage ropes, and all the arm sections are driven to synchronously move at equal angles under the driving action of the rope cluster multi-shaft driving module. The problems that the motion state of the under-actuated flexible mechanical arm is not unique, and the number of driving units of the full-drive flexible mechanical arm is large are fundamentally solved, and the overall number, quality and power consumption of the driving units are greatly reduced while the motion flexibility, the tail end precision and the structural rigidity are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm control, and in particular to an active-passive hybrid drive module and method for a space flexible robot arm rope cluster. Background Art

[0002] This section merely provides background information related to the present disclosure and may not constitute prior art.

[0003] The space flexible robotic arm has a slender shape, high dexterity and good flexibility. It can perform dexterous operations in narrow and highly crowded spaces, including fault detection, maintenance, assembly, etc.

[0004] A robotic arm that can perform dexterous operations in narrow and highly crowded spaces requires a small diameter, multiple degrees of freedom, and strong bending ability. Space robotic arms designed based on modular joint solutions have motors, reducers, drivers, sensors, etc. integrated at the joints. They are exposed in outer space and require complex environmental protection measures. The arm diameter is large, and the mass, inertia, and power consumption of the robotic arm are greatly increased. Space robotic arms designed based on full-drive rope transmission solutions have a large number of drives and high power consumption, making them unsuitable for use on robotic satellites.

[0005] Therefore, it is urgent to propose new design ideas to solve the design problems of space flexible robotic arms in extreme space environments. Summary of the invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the defects of large mass inertia and large number of drives in the existing space robot arm technology, thereby providing an active-passive hybrid drive module and method for a space flexible robot arm rope cluster.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] A space flexible manipulator rope cluster active-passive hybrid drive module, comprising:

[0009] A rope cluster multi-axis driving module, the rope cluster multi-axis driving module includes a plurality of rope cluster driving modules, the rope cluster driving module includes a rope driving mechanism and a driving rope, one end of the driving rope is connected to the rope driving mechanism and moves linearly under the drive of the rope driving mechanism, and the other end of the driving rope passes through at least one arm segment of the flexible mechanical arm and is connected to a kinematic pair of any arm segment in the arm segment;

[0010] A segmented equal-curvature linkage module, which provides constraints for each arm section in the arm section, couples the same-direction motion axes of each arm section in the arm section through linkage ropes, and drives all arm sections to move synchronously at equal angles under the driving action of the rope cluster multi-axis drive module; the segmented equal-curvature linkage module includes an adjacent-axis short linkage module and an intermittent-axis long linkage module, the adjacent-axis short linkage module is arranged between two adjacent arm sections in the same arm section and is used to drive two adjacent arm sections in the arm section to be linked at equal angles, and the intermittent-axis long linkage module is arranged between two non-adjacent arm sections and is used to make the two non-adjacent arm sections to be linked at equal angles.

[0011] In some embodiments, the rope drive mechanism comprises:

[0012] Drive motor;

[0013] A screw rod, the screw rod is connected to the output shaft end of the driving motor through a coupling;

[0014] A flanged ball bearing, wherein the flanged ball bearing is assembled with the lead screw thread;

[0015] A rope puller is arranged on the outer wall surface of the flanged ball bearing and is connected to the driving rope.

[0016] In some embodiments, a tension sensor is fixedly provided on the outer side of the rope puller, and the tension sensor is used to detect the tension value of the driving rope.

[0017] In some embodiments, the rope cluster multi-axis drive module is positioned on a rope cluster multi-axis drive module mounting frame; the rope cluster multi-axis drive module mounting frame includes:

[0018] A motor mounting plate, wherein a plurality of motor mounting holes are arranged on the motor mounting plate, and the drive motor is arranged in the motor mounting holes;

[0019] A screw fixing plate, wherein the screw fixing plate is connected to the motor mounting plate via a motor mounting plate bracket;

[0020] The frame upper plate is arranged in parallel with the screw rod fixing plate, and the two ends of the screw rod are rotatably arranged on the frame upper plate and the screw rod fixing plate respectively;

[0021] A plurality of linear slide rail support plates, each of which is arranged at intervals between the screw rod fixing plate and the frame upper plate;

[0022] A plurality of linear slide rails are provided on the linear slide rail support plate, and the rope puller is slidably assembled on the linear slide rails.

[0023] In some embodiments, the screw fixing plate is provided with a plurality of first screw fixing block through holes, and a first screw fixing block is fixedly arranged in the first screw fixing block through holes; the frame upper plate is provided with a plurality of second screw fixing block through holes, and the opening positions of the second screw fixing block through holes correspond to the opening positions of the first screw fixing block through holes, and a second screw fixing block is fixedly arranged in the second screw fixing block through holes; one end of the screw is rotatably arranged on the first screw fixing block, and the other end of the screw is rotatably arranged in the second screw fixing block.

[0024] In some embodiments, the rope cluster multi-axis driving module provides active driving force for the arm segment based on the antagonism principle, so as to achieve bending of the arm segment along the directions of the axes of the kinematic pair;

[0025] And / or, the kinematic pair is a single-degree-of-freedom rotational joint or a dual-degree-of-freedom universal joint or a quaternion joint;

[0026] And / or, the sizes of the arm segments and / or arm sections are in a heterogeneous or homogeneous manner;

[0027] And / or, the two non-adjacent arm sections include two non-adjacent arm sections of the same arm segment and / or two non-adjacent arm sections of different arm segments.

[0028] In some embodiments, every three adjacent arm sections constitute a group of short linkage arm sections, and the three adjacent arm sections are respectively the first arm section, the second arm section and the third arm section, the first arm section is connected to the second arm section via a first cross axis, the second arm section is connected to the third arm section via a second cross axis, and both the first cross axis and the second cross axis have joint brackets;

[0029] The adjacent shaft short linkage module comprises:

[0030] A first driving rope semi-slide rail and a second driving rope semi-slide rail, wherein the first driving rope semi-slide rail and the second driving rope semi-slide rail are respectively vertically arranged on the joint bracket of the first cross axis, and slideways are arranged on the outer side walls of the first driving rope semi-slide rail and the second driving rope semi-slide rail;

[0031] A third driving rope semi-slide and a fourth driving rope semi-slide, wherein the third driving rope semi-slide and the fourth driving rope semi-slide are respectively vertically arranged on the joint bracket of the second cross axis, and slideways are arranged on the outer side walls of the third driving rope semi-slide and the fourth driving rope semi-slide, and the third driving rope semi-slide is arranged parallel to and opposite to the first driving rope semi-slide, and the fourth driving rope semi-slide is arranged parallel to and opposite to the second driving rope semi-slide;

[0032] The first short linkage large loop rope passes through the slideway on one side of the first drive rope semi-slideway of the first arm section, passes through the second arm section in an "S" shape, enters the slideway of the third drive rope semi-slideway of the third arm section, passes through the slideway, passes through the second arm section again in an "S" shape, and finally enters the slideway on the other side of the first drive rope semi-slideway of the first arm section and passes through the first arm section; the first short linkage large loop rope is in an "8" shape;

[0033] Two first short linkage small ring ropes, one end of the first short linkage small ring rope is wound around the first rotating shaft of the first cross shaft, the other end of the first short linkage small ring rope is wound around the first rotating shaft of the second cross shaft, and the two first short linkage small ring ropes are symmetrically combined in opposite directions to form an "8" shape;

[0034] The second short linkage large loop rope passes through the slideway on one side of the second drive rope semi-slideway of the first arm section, passes through the second arm section in an "S" shape, enters the slideway of the fourth drive rope semi-slideway of the third arm section, passes through the slideway, passes through the second arm section again in an "S" shape, and finally enters the slideway on the other side of the second drive rope semi-slideway of the first arm section and passes through the first arm section; the second short linkage large loop rope is in an "8" shape;

[0035] Two second short linkage small ring ropes, one end of the second short linkage small ring rope is wound on the second rotating shaft of the first cross shaft, and the other end of the second short linkage small ring rope is wound and set on the second rotating shaft of the second cross shaft, and the two second short linkage small ring ropes are symmetrically combined in reverse to form an "8" shape.

[0036] In some embodiments, both ends of the first short linkage large ring rope, the first short linkage small ring rope, the second short linkage large ring rope, and the second short linkage small ring rope are inserted through the through hole of the hollow screw and are limited by the welding ball head, and the welding ball head is located outside the hollow screw;

[0037] And / or, the outer parts of the first short linkage large loop rope and the second short linkage large loop rope are sleeved with short linkage rope sleeves;

[0038] And / or, a plurality of short drive rope guide blocks are arranged on the second arm section, and the first short linkage large loop rope and the second short linkage large loop rope respectively pass through a short drive rope guide block and are constrained by the short drive rope guide blocks.

[0039] In some embodiments, the hollow screw is threadedly assembled on the arm section, and the position of the hollow screw can be adjusted to adjust the tensioning force of both ends of the first short linkage large ring rope or the first short linkage small ring rope or the second short linkage large ring rope through the hollow screw.

[0040] In some embodiments, every at least four adjacent arm sections constitute a group of long linkage arm sections, and each arm section is respectively a fourth arm section, a fifth arm section and a sixth arm section, and at least two fifth arm sections are provided, and the fourth arm section and its adjacent fifth arm section are connected via a third cross axis, and the sixth arm section and its adjacent fifth arm section are connected via a fourth cross axis, and two adjacent fifth arm sections are connected via a fifth cross axis, and the third cross axis and the fourth cross axis are linkage cross axes;

[0041] The intermittent shaft length linkage module comprises:

[0042] Two first long linkage large loop ropes, the first long linkage large loop ropes pass through the fourth arm section, pass through each fifth arm section in sequence, and then pass through the sixth arm section, the two ends of the first long linkage large loop ropes are respectively limited between the fourth arm section and the sixth arm section, each of the first long linkage large loop ropes is "S" shaped, and the two first long linkage large loop ropes are symmetrically arranged about the central axis of the flexible mechanical arm;

[0043] Two second long linkage large loop ropes; one side of one of the second long linkage large loop ropes is wound around the first rotating shaft of the third cross axis, and the other side of the second long linkage large loop rope is wound around the first rotating shaft of the fourth cross axis; one side of the other second long linkage large loop rope is wound around the second rotating shaft of the third cross axis, and the other side of the second long linkage large loop rope is wound around the second rotating shaft of the fourth cross axis, and the two second long linkage large loop ropes are both in the shape of "8".

[0044] A space flexible manipulator rope cluster active-passive hybrid driving method, the method is based on the space flexible manipulator rope cluster active-passive hybrid driving module, and comprises the following steps:

[0045] The flexible robot arm is divided into a plurality of arm segments, and adjacent arm segments are connected through kinematic pairs;

[0046] Connecting multiple driving ropes to any arm joint kinematic pairs in the flexible robotic arm, controlling the movement of the driving ropes through the rope driving mechanism and serving as the active driving force of the flexible robotic arm;

[0047] The same-direction motion axes of each arm segment in the flexible robotic arm are coupled together through linkage ropes. When at least one arm segment in the flexible robotic arm moves under the drive of an active driving force, the moving arm segment drives the remaining arm segments to move synchronously through the linkage ropes.

[0048] The technical solution of the present invention has the following advantages:

[0049] The present invention provides a space flexible manipulator rope cluster active-passive hybrid drive module and method, which adopts the structure of "discrete rigid connecting rod + kinematic pair + rope driving mechanism + rope linkage mechanism". The entire operating arm is composed of multiple arm segments connected in series, and each arm segment includes multiple arm sections. The arm segments and arm sections are connected through kinematic pairs. Each arm segment is driven by a rope cluster driving module, and each section in the segment is constrained by a rope linkage mechanism (i.e., a segmented equal curvature linkage module, including a linkage rope and a rope sleeve), thereby combining the active drive of the arm segment with the passive linkage within the arm segment to achieve flexible movement of the entire manipulator.

[0050] The present invention fundamentally solves the problem that the motion state of an under-actuated flexible robotic arm is not unique and the number of driving units of a fully-actuated flexible robotic arm is huge. While ensuring the motion flexibility, end precision and structural rigidity, the overall number, mass and power consumption of the driving units are greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 It is a schematic diagram of the active-passive hybrid driving method of the space flexible manipulator rope cluster of the present invention.

[0053] Figure 2 It is a structural schematic diagram of a rope cluster multi-axis drive module in the rope cluster active-passive hybrid drive module of the space flexible manipulator of the present invention.

[0054] Figure 3 It is a schematic diagram of the structure of the rope cluster drive module in the rope cluster active-passive hybrid drive module of the space flexible manipulator of the present invention.

[0055] Figure 4 It is a schematic diagram of the stabilization frame of the rope cluster multi-axis drive module in the rope cluster active-passive hybrid drive module of the space flexible manipulator of the present invention.

[0056] Figure 5 It is a schematic diagram of a rope cluster active-passive hybrid drive flexible robotic arm in a rope cluster active-passive hybrid drive module of a space flexible robotic arm of the present invention.

[0057] Figure 6 It is a structural schematic diagram of a segmented equal-curvature adjacent-axis short linkage module in the active-passive hybrid drive module of the space flexible manipulator rope cluster of the present invention.

[0058] Figure 7It is a structural schematic diagram of a segmented equal curvature discontinuous axis length linkage module in the active and passive hybrid drive module of the space flexible manipulator rope cluster of the present invention.

[0059] Figure 8 It is a structural schematic diagram of the connection between the cross axis in the active-passive hybrid drive module of the space flexible manipulator rope cluster of the present invention and the first drive rope semi-slide rail and the second drive rope semi-slide rail.

[0060] Fig. 9 It is a structural schematic diagram of the cross axis in the active and passive hybrid drive module of the space flexible manipulator rope cluster of the present invention when connected to the arm section;

[0061] Fig.10 For the present invention Fig. 9 Schematic diagram of the structure when positioning a short linkage small ring rope.

[0062] Reference numerals:

[0063] 1000, rope cluster drive module, 1100, drive motor, 1200, coupling, 1300, screw rod, 1400, rope puller, 1500, flanged ball bearing, 1600, tension sensor, 1700, drive rope;

[0064] 2000, rope cluster multi-axis drive module installation frame, 2001, motor installation plate, 2002, motor fixing plate, 2003, motor installation plate bracket, 2004, screw fixing plate, 2005, first screw fixing block, 2006, linear slide support plate, 2007, linear slide, 2008, linear slide slider, 2009, frame upper plate, 2010, second screw fixing block;

[0065] 3000, flexible mechanical arm, 3001, first arm, 3002, connecting plate, 3003, intermediate arm, 3004, second arm;

[0066] 4000, adjacent shaft short linkage module, 4001, hollow screw, 4002, linkage rope adjustment end block, 4003, first drive rope half slide rail, 4004, linkage rope winding cross shaft, 4041, joint bracket, 4005, drive rope large slide rail, 4006, short drive rope guide block, 4007, short linkage rope sleeve, 4008, linkage rope fixed end block, 4009, long linkage adjustment screw mounting block, 4010, long linkage adjustment screw, 4011, linkage rope clamping block, 4012, short linkage small ring rope, 4013, short linkage large ring rope, 4014, second drive rope half slide rail;

[0067] 5000, intermittent axis length linkage module, 5001, first long linkage large ring rope, 5002, second long linkage large ring rope, 5003, first long linkage small ring rope sleeve, 5004, second long linkage small ring rope sleeve, 5005, first long linkage large ring rope sleeve, 5006, second long linkage large ring rope sleeve, 5007, long linkage rope guide block;

[0068] 01. Driving structure, 02. Motor, 04. Tensioner, 07. Kinematic pair, 08. Arm section, 10. End A of linkage rope, 12. First joint, 13. First linkage rope, 14. Second linkage rope, 15. Second joint, 16. End B of linkage rope, 21. End A of fourth linkage rope, 24. Third joint, 25. Third linkage rope, 26. First rope sleeve, 27. Fourth joint, 30. Fourth linkage rope, 31. Second rope sleeve, 32. End B of fourth linkage rope. DETAILED DESCRIPTION

[0069] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0070] The space flexible manipulator has a slender shape, high dexterity and good flexibility, and can perform dexterous operations in narrow and highly crowded spaces, including fault detection, maintenance, assembly, etc. The manipulator that performs dexterous operations in narrow and highly crowded spaces requires a small diameter, multiple degrees of freedom, and strong bending ability.

[0071] In the solution based on modular joints, motors, reducers, drivers, sensors, etc. are integrated at the joints and exposed in outer space, requiring complex environmental protection measures. The arm diameter is large, and the mass, inertia, and power consumption of the robotic arm are also greatly increased. For example, the American Orbital Express space robotic arm is 3m long, 6 degrees of freedom, 71kg in mass, and 131W in power consumption. In the solution based on full-drive rope transmission, the number of drives is greatly increased. A typical example is the snake-shaped robotic arm developed by the British OC company, which has an arm length of 2.5m, 24 degrees of freedom, requires 32 motors, a total mass of more than 1000kg, and a power consumption of 4400W, which is not suitable for use on robotic satellites. In the solution based on elastic support bodies, the whole arm has good flexibility, but the accuracy and rigidity cannot meet the requirements of on-orbit operations. Therefore, it is urgent to propose new design ideas to solve the design problems of flexible space robotic arms in extreme space environments.

[0072] Based on this, this project invented a space flexible manipulator rope cluster active-passive hybrid drive method, as well as a rope cluster multi-axis drive module and a segmented equal curvature linkage module based on this method. Using the results of this invention, space flexible manipulators of different lengths, outer diameters and degrees of freedom can be constructed, and they have the characteristics of continuous and complete arm shape, flexible movement, adjustable stiffness, and a small number of drives.

[0073] The specific embodiments of the present invention are described in detail below in conjunction with the active-passive hybrid driving method of a rope cluster of a space flexible manipulator of the first aspect of the present invention.

[0074] It should be noted that the rope cluster active-passive hybrid driving method for the space flexible manipulator of the first aspect of the present invention is only a preferred embodiment of the present invention. The rope cluster active-passive hybrid driving method for the space flexible manipulator of the present invention can adopt the method of the first aspect of the present invention or other methods. For the convenience of explanation, the rope cluster active-passive hybrid driving method for the space flexible manipulator of the first aspect of the present invention will be explained below.

[0075] This embodiment discloses an active-passive hybrid driving method of a space flexible manipulator rope cluster, comprising the following steps:

[0076] The flexible robot arm is divided into a plurality of arm segments, and adjacent arm segments are connected through kinematic pairs;

[0077] A plurality of driving ropes are connected to any arm segment kinematic pairs in the flexible robotic arm, and the driving rope movements are controlled by a rope driving mechanism and serve as the active driving force of the flexible robotic arm.

[0078] The same-direction motion axes of each arm segment in the flexible robot arm are coupled together through linkage ropes, and the motion pairs of each arm segment in the arm segment are constrained by the linkage ropes. When the arm segment is acted by the driving group, all arm segments in the arm segment move synchronously at equal angles.

[0079] The arm segment driving mechanism composed of a rope drive group and a rope linkage mechanism is called a rope cluster active-passive hybrid driving mechanism, under the action of which "the overall active driving of the arm segment" and "equal-angle linkage of the arm sections within the segment" are simultaneously realized.

[0080] Combination Figure 1The schematic diagram of the active and passive hybrid driving method of the flexible mechanical arm shown in the figure, the entire arm segment of the above-mentioned flexible mechanical arm is divided into a plurality of arm segments 08, each arm segment is connected by a kinematic pair 07, and the kinematic pair of the arm segment of the flexible mechanical arm in this invention is a cross-axis joint. A plurality of driving ropes 1700 are connected to the motor 02 through a tensioner 04, a screw rod 1300 and a coupling 1200 as a group, and the rotational motion of the motor 02 is converted into the linear motion of the driving rope 1700. The driving rope 06 provides active driving force for the entire arm segment based on the antagonistic principle to realize the omnidirectional bending motion of the arm segment. The kinematic pair 07 of each arm segment 08 in the segment is constrained by the first linkage rope 13, the second linkage rope 14, the third linkage rope 25, and the fourth linkage rope 30. All arm segments 08 move synchronously at equal angles during the entire segment driven by the active rope. Through a group of driving structures 01, the active and passive hybrid driving of the rope cluster of "the overall active driving of the arm segment" and "the equal angle linkage of each segment in the segment" is realized at the same time.

[0081] The rope cluster is composed of a plurality of multi-strand steel wire ropes of different lengths and diameters, including a plurality of driving ropes 1700 , a first linkage rope 13 , a second linkage rope 14 , a third linkage rope 25 , and a fourth linkage rope 30 .

[0082] The driving rope 1700 includes two ends: an active driving rope end A and an active driving rope end B. The active driving rope end A is connected to the motor. The driving rope starts from the motor and passes through the rope hole of each arm rod in the above-mentioned flexible mechanical arm arm segment. The active driving rope end B can be connected to any arm segment in the driven arm segment. A set of driving ropes consists of three ropes of the same length and diameter, which jointly control the two degrees of freedom of an arm segment.

[0083] The first linkage rope 13, the second linkage rope 14, the third linkage rope 25, and the fourth linkage rope 30 include: adjacent axis short linkage ropes (the first linkage rope 13 and the second linkage rope 14) and the discontinuous axis long linkage ropes (the third linkage rope 25 and the fourth linkage rope 30). The adjacent axis short linkage ropes constrain the adjacent first joints 12 and second joints 15 in the arm segment to ensure that the adjacent joints in the arm segment are linked at equal angles; the discontinuous axis long linkage ropes constrain the two non-adjacent joints (the third joint 24 and the fourth joint 27) in the arm segment to ensure that the non-adjacent joints in the arm segment (the third joint 24 and the fourth joint 27) are linked at equal angles. Any number of joints and arm segments may be included between the above two non-adjacent joints (the third joint 24 and the fourth joint 27).

[0084] The linkage rope drive is a passive drive mode, and the driving principle of the adjacent shaft short linkage and the intermittent shaft long linkage is the same. For the adjacent shaft short linkage, the total length L of the single first linkage rope 13 remains unchanged, and the first linkage rope 13 includes two ends: the linkage rope A end 10 and the linkage rope B end 16. The linkage rope A end is fixed to any point on a concentric circle of the first joint 12, and the linkage rope 13 at the linkage rope B end is naturally wound on the above concentric circle; similarly, the linkage rope B end is fixed to any point on a concentric circle of the same size on the second joint 15 linked to the first joint 12, and the first linkage rope at the linkage rope B end is naturally wound on the above concentric circle. When the first joint 12 rotates counterclockwise by an angle θ1, the first linkage rope 13 is passively tensioned to generate tension, and the second joint 15 is passively rotated by an angle θ2 under the action of the rope tension. Since the total length of the first linkage rope in the linkage rope A end 10 and the linkage rope B end 16 needs to remain unchanged, θ1 is equal to θ2, thereby realizing the linkage of two adjacent joints (first joint 12, second joint 15) to rotate the same angle (θ1, θ2) in one direction. The second linkage rope 14 is arranged in a small "8" shape in the opposite direction to the first linkage rope 13, thereby realizing the linkage of two adjacent joints in both directions.

[0085] For the intermittent axis length linkage, the two ends of a single fourth linkage rope 30 (the fourth linkage rope A end 21, the fourth linkage rope B end 32) are respectively fixed on two non-adjacent joints (the third joint 24, the fourth joint 27), and the fixing method is the same as that of the adjacent axis short linkage rope. The main difference between the intermittent axis length linkage rope (the third linkage rope 25, the fourth linkage rope 30) and the adjacent axis short linkage rope is that the middle part of the intermittent axis length linkage rope (the third linkage rope 25, the fourth linkage rope 30) needs to be inserted into the rope sleeve (the first rope sleeve 26, the second rope sleeve 31), and the rope sleeve (the first rope sleeve 26, the second rope sleeve 31) can guide the linkage rope (the third linkage rope 25, the fourth linkage rope 30) to pass through the vicinity of the axis of the flexible manipulator in a shape with less friction.

[0086] The adjacent axis short linkage passively drives every two adjacent joints to rotate at equal angles, and the discontinuous axis long linkage passively drives any two non-adjacent joints to rotate at equal angles. Figure 1 The figure shows the linkage principle diagram in the plane. In fact, adjacent axis short linkage and discontinuous axis long linkage are arranged symmetrically around the four sides to realize the three-dimensional space equal curvature linkage of two degrees of freedom of the single arm segment. Through the combined action of the above two, the single arm segment joint containing any number of joints can realize the equal curvature linkage of each joint in the arm segment under the combined action of adjacent axis short linkage and discontinuous axis long linkage.

[0087] The above-mentioned space flexible robotic arm rope cluster active-passive hybrid drive method adopts the structure of "discrete rigid connecting rod + kinematic pair + rope driving mechanism + rope linkage mechanism", and divides the entire arm segment into multiple arm sections. Each arm section is connected by a kinematic pair, and several ropes are connected to the driving motor as a group. Based on the antagonism principle, an active driving force is provided for the entire arm section to realize omnidirectional bending movement of the arm section. The kinematic pairs of each arm section in the arm section are constrained by the linkage ropes, and all arm sections move synchronously at equal angles during the period of active rope drive. Through a group of rope cluster multi-axis drive modules, "active drive of the entire arm section" and "equal-angle linkage of each section in the section" are simultaneously realized, which greatly reduces the overall number, mass and power consumption of the drive unit.

[0088] Furthermore, the space flexible manipulator suitable for different degrees of freedom and different lengths has N segments (N≥1), each segment has M (M≥1) arm segments and kinematic pairs, and each kinematic pair has k (k≥1) degrees of freedom. Then each arm segment has k degrees of freedom and kM motion axes, driven by 1 drive group. The entire manipulator can be constructed by connecting multiple arm segments in series. The entire manipulator composed of N segments has a total of kN degrees of freedom and kNM motion axes, driven by N drive groups. When a universal joint is used as a kinematic pair, each kinematic pair has two motion axes, namely, pitch (Pitch, abbreviated as P) and yaw (Yaw, abbreviated as Y) (i.e., k=2). Two types of dual-degree-of-freedom joints, PY (Pitch-Yaw) and YP (Yaw-Pitch), can be constructed in different orders. By connecting each joint in sequence according to the rule that adjacent axes are parallel, the entire manipulator forms a series structure of (PY-YP-PY-…-YP).

[0089] The rope cluster is composed of a plurality of multi-strand steel wire ropes of different lengths and diameters, including a driving rope and a linkage rope.

[0090] Furthermore, each driving rope includes two ends: end A and end B. End A is connected to the motor. The driving rope starts from the motor and passes through the rope hole of each arm rod in the above-mentioned flexible mechanical arm arm segment. End B can be connected to any arm segment in the driven arm segment. A set of driving ropes consists of three ropes of the same length and diameter, which jointly control the two degrees of freedom of one arm segment.

[0091] The linkage ropes include: adjacent axis short linkage ropes and discontinuous axis long linkage ropes. The adjacent axis short linkage ropes constrain two adjacent joints in the arm segment to ensure equal angle linkage of adjacent joints in the arm segment; the discontinuous axis long linkage ropes constrain two non-adjacent joints in the arm segment to ensure equal angle linkage of non-adjacent joints in the arm segment. Any number of joints can be included between the above two non-adjacent joints.

[0092] The linkage rope drive is a passive drive mode. The driving principle of the short linkage ropes of adjacent axes and the long linkage ropes of discontinuous axes is the same. The total length L of a single linkage rope remains unchanged. The linkage rope includes two ends: end a and end b. End a of the linkage rope is fixed to a point on a concentric circle of the revolving pair of any joint J_1. The linkage rope at end a is naturally wound around the above concentric circle. Similarly, end b of the linkage rope is fixed to a point on a concentric circle of the same size of the revolving pair of joint J_2 linked to joint J_1. The linkage rope at end b is naturally wound around the above concentric circle. When joint J_1 rotates by an angle θ, since the total length of the ropes in ends a and b remains unchanged, joint J_2 passively rotates by the same angle θ under the action of the rope tension, thereby realizing the above linkage of the two joints rotating by the same angle.

[0093] According to the above-mentioned active-passive hybrid driving method of the flexible manipulator, the present invention provides a rope cluster active-passive hybrid driving module of a space flexible manipulator. The rope cluster multi-axis driving module based on the driving method is composed of a number of motors, lead screws and rope transmission mechanisms, and the movement and power of the motors are remotely transmitted through ropes; the segmented equal curvature linkage module is composed of discrete rigid rods, multi-degree-of-freedom kinematic pairs, and rope linkage mechanisms. Under the action of external driving force, the module arm segments are bent with equal curvature along the directions of the axes of the kinematic pairs. Combining the rope cluster multi-axis driving module and the segmented equal curvature linkage module can form a space flexible manipulator with different lengths and degrees of freedom.

[0094] The specific embodiments of the present invention are described in detail below in conjunction with the rope cluster active-passive hybrid drive module of the space flexible manipulator of the second aspect of the present invention.

[0095] It should be noted that the rope cluster active and passive hybrid drive module of the space flexible manipulator of the second aspect of the present invention is only a preferred embodiment of the present invention. The rope cluster active and passive hybrid drive module of the space flexible manipulator of the present invention can adopt the module of the second aspect of the present invention or other devices. For the convenience of explanation, the rope cluster active and passive hybrid drive module of the space flexible manipulator of the second aspect of the present invention is explained below.

[0096] like Figures 2 to 10 As shown, this embodiment discloses a space flexible manipulator rope cluster active-passive hybrid drive module, including a rope cluster multi-axis drive module and a segmented equal curvature linkage module.

[0097] The rope cluster multi-axis drive module includes a plurality of rope cluster drive modules 1000, and the rope cluster drive module 1000 includes a rope drive mechanism and a drive rope 1700. One end of the drive rope 1700 is connected to the rope drive mechanism and moves linearly under the drive of the rope drive mechanism, and the other end of the drive rope 1700 passes through at least one arm segment of the flexible mechanical arm 3000 and is connected to the kinematic pair of any arm segment in the arm segment. The rope cluster multi-axis drive module provides active driving force for the arm segment based on the antagonistic principle, so that the arm segment can be bent along the axis directions of the kinematic pair.

[0098] The segmented equal curvature linkage module provides constraints for each arm section in the arm section, couples the same-direction motion axes of each arm section in the arm section through linkage ropes, and drives all arm sections to move synchronously at equal angles under the driving action of the rope cluster multi-axis drive module. The segmented equal curvature linkage module includes an adjacent short axis linkage module 4000 and an intermittent long axis linkage module 5000. The adjacent short axis linkage module 4000 is arranged between two adjacent arm sections in the same arm section and is used to drive the two adjacent arm sections in the arm section to be linked at equal angles. The intermittent long axis linkage module 5000 is arranged between two non-adjacent arm sections and is used to make the two non-adjacent arm sections to be linked at equal angles. Among them, the two non-adjacent arm sections include two non-adjacent arm sections in the same arm section, and also include two non-adjacent arm sections in different arm sections.

[0099] The above-mentioned space flexible manipulator rope cluster active-passive hybrid drive module adopts the structure of "discrete rigid link + kinematic pair + rope drive mechanism + rope linkage mechanism". The entire operating arm is composed of multiple arm segments connected in series, and each arm segment includes multiple arm sections. The arm segments and arm sections are connected through kinematic pairs. Each arm segment is driven by a rope cluster drive module, and each section in the segment is constrained by a rope linkage mechanism (i.e., a segmented equal curvature linkage module, including a linkage rope and a rope sleeve), thereby combining the active drive of the arm segment with the passive linkage within the arm segment to achieve flexible movement of the entire manipulator.

[0100] In some embodiments, the rope drive mechanism includes a driving motor 1100, a screw rod 1300, a flanged ball bearing 1500, and a rope puller 1400. The screw rod 1300 is connected to the output shaft end of the driving motor 1100 through a coupling 1200, and the coupling 1200 can keep the screw rod 1300 and the driving motor 1100 rotating synchronously. The flanged ball bearing 1500 is connected to the screw rod 1300 in the form of a spiral pair, and the rotational motion of the screw rod 1300 is converted into the linear motion of the flanged ball bearing 1500. The rope puller 1400 is arranged on the outer wall surface of the flanged ball bearing 1500. More specifically, the inner side of the rope puller 1400 is fixedly connected to the flanged ball bearing 1500 using bolts, and the two perform linear motion synchronously. The rope puller 1400 is connected to the driving rope 1700.

[0101] The rope cluster multi-axis drive module can accurately convert the rotational motion of the drive motor 1100 into the linear motion of the drive rope 1700 through the coupling 1200, the screw 1300, the flanged ball bearing 1500, the rope puller 1400 and the tension sensor 1600. The three rope cluster drive modules 1000 achieve the purpose of jointly driving the two degrees of freedom of a flexible robot arm segment through the antagonistic drive principle.

[0102] In this embodiment, the screw rod 1300 converts the rotational motion and torque of the drive motor 1100 into translational motion and tension, thereby actively controlling the length and tension of the drive rope 1700. The drive rope 1700 passes through the rope guide hole on the arm section, penetrates the entire arm section, and is fixed to the circumference of the arm rod, forming an antagonistic drive to achieve omnidirectional bending motion of the entire arm section. By adjusting the tension distribution of the antagonistic rope, the stiffness of the entire arm section can be regulated.

[0103] More specifically, the method for adjusting the tension distribution of the antagonistic rope is: based on the degree to which the flexible mechanical arm 3000 is to be bent, the control information of each rope driving mechanism is obtained, and the degree to which the flexible mechanical arm 3000 is to be bent is different, and the degree of tension control of the driving rope 1700 is different. The tension of the driving rope 1700 connected to the rope driving mechanism is controlled by the rope driving mechanism. The method for controlling the tension of the driving rope 1700 is: the position of the flanged ball bearing 1500 is adjusted by the driving motor 1100, thereby adjusting the tension of the driving rope 1700.

[0104] In some embodiments, a tension sensor 1600 is fixedly provided on the outer side of the rope puller 1400 using a single bolt. The tension sensor 1600 is used to detect the tension value of the driving rope 1700, and then the real-time tension information of the driving rope 1700 can be obtained, so as to facilitate further regulation of the driving motor 1100. When the detected tension information value of the driving rope 1700 is less than the set tension value, the rope puller 1400 is controlled to move to the side away from the flexible mechanical arm 3000; when the detected tension information value of the driving rope 1700 is greater than the set tension value, the rope puller 1400 is controlled to move to the side close to the flexible mechanical arm 3000.

[0105] The specific installation method of the tension sensor 1600 is as follows: the root of the driving rope 1700 is threaded and can be screwed into the reserved threaded hole of the tension sensor 1600, thereby fixing the two together.

[0106] In some embodiments, the rope cluster multi-axis drive module is positioned on the rope cluster multi-axis drive module mounting frame 2000. The rope cluster multi-axis drive module mounting frame 2000 includes a motor mounting plate 2001, a screw fixing plate 2004, a frame upper plate 2009, a linear slide support plate 2006 and a linear slide 2007.

[0107] The motor mounting plate 2001 is provided with a plurality of motor mounting holes, and the drive motor 1100 is arranged in the motor mounting holes. The motor mounting plate 2001 can be installed with 12 rope cluster drive modules 1000, but the maximum number is not limited to 12, and the installation number of the rope cluster drive module 1000 is set according to the actual situation. The drive motor 1100 in the rope cluster drive module 1000 is fixed to the motor mounting plate 2001 through the motor fixing plate 2002.

[0108] The screw fixing plate 2004 is connected to the motor mounting plate 2001 via a motor mounting plate bracket 2003 , and the motor mounting plate bracket 2003 plays a role of supporting and ensuring the distance between the two.

[0109] The frame upper plate 2009 is mounted on the linear guide rail support plate 2006, and the frame upper plate 2009 is arranged in parallel with the screw fixing plate 2004. The two ends of the screw 1300 are respectively rotatably arranged on the frame upper plate 2009 and the screw fixing plate 2004. The axis of the screw 1300 is perpendicular to the maximum plane of the screw fixing plate 2004. The main bodies of the first screw fixing block 2005 and the second screw fixing block 2010 are flange bearings, which are used to fix the screw 1300 and ensure the verticality of the axis of the screw 1300 and the maximum plane of the screw fixing plate 2004. A plurality of first screw fixing block through holes are opened on the screw fixing plate 2004, and a first screw fixing block 2005 is fixedly arranged in the first screw fixing block through holes; a plurality of second screw fixing block through holes are opened on the frame upper plate 2009, and the opening positions of the second screw fixing block through holes correspond to the opening positions of the first screw fixing block through holes, and a second screw fixing block 2010 is fixedly arranged in the second screw fixing block through holes; one end of the screw 1300 is rotatably arranged on the first screw fixing block 2005, and the other end of the screw 1300 is rotatably arranged in the second screw fixing block 2010.

[0110] There are multiple linear slide support plates 2006, each of which is arranged at intervals between the screw fixing plate 2004 and the frame upper plate 2009. Twelve linear slide support plates 2006 can be installed on the screw fixing plate 2004, and the number of installations corresponds to the installed rope cluster drive module 1000. There are multiple linear slides 2007, each of which is arranged on the linear slide support plate 2006. More specifically, the linear slide 2007 is fixed by threaded connection with the threaded hole reserved on the linear slide support plate 2006 by bolts. A linear slide slider 2008 on the linear slide 2007 can move freely within the allowable length along the linear guide direction.

[0111] The rope puller 1400 is slidably mounted on the linear slide rail 2007. The end surface of the linear slide rail slider 2008 is fixed to the rope puller 1400 to ensure that the rope puller 1400 moves in a straight line without rotating.

[0112] In some embodiments, the kinematic pair used may be a single-degree-of-freedom rotational joint, or a dual-degree-of-freedom universal joint and a quaternion joint. The kinematic pair used may be other forms of kinematic pairs, and the specific form of the kinematic pair is not limited here.

[0113] In some embodiments, the arm segments and / or arm sections are sized in a heterogeneous manner or in a homogeneous manner. The heterogeneous manner means that the diameter, length, and number of arm sections in each segment can be different; while the homogeneous manner means that the entire robot arm is composed of arm segments with exactly the same structure and size, and the number and size of each segment are also exactly the same.

[0114] In some embodiments, the segmented constant curvature linkage module is as follows Figure 5 , 6 , 7, including: a boom section, a bidirectionally synchronized symmetrical rope, an equivalent spherical structure and a sleeve guide assembly. The boom section can be a cross-axis joint, a quaternion joint or other types of joints. The above-mentioned bidirectionally synchronized symmetrical ropes are equal in length and diameter, and are installed on the equivalent spherical structures of the two linkage joints in reverse symmetry, together forming an "8" shape. The sleeve guide is used to guide the shape and position of the linkage rope in three-dimensional space. Changing the shape and material of the sleeve guide can change the friction between the linkage rope and the sleeve guide. The above-mentioned segmented equal curvature linkage module can realize the coaxial equal-angle linkage of each joint in the module in two directions, and the linkage module can be expanded from a single stage to multiple stages according to task requirements.

[0115] In some embodiments, every three adjacent arm sections form a group of short linkage arm sections, and the three adjacent arm sections are the first arm section, the second arm section and the third arm section, respectively. The first arm section is connected to the second arm section via a first cross axis, and the second arm section is connected to the third arm section via a second cross axis, and both the first cross axis and the second cross axis have joint brackets 4041. A connecting plate 3002 is provided on the arm section, and the connecting plate 3002 is connected to the rotating shaft on the adjacent joint bracket 4041.

[0116] The adjacent shaft short linkage module 4000 includes a first driving rope semi-slide rail 4003, a second driving rope semi-slide rail 4014, a third driving rope semi-slide rail 4015, a fourth driving rope semi-slide rail 4016, a first short linkage large ring rope 4013, a first short linkage small ring rope 4012, a second short linkage large ring rope and a second short linkage small ring rope. The first driving rope semi-slide rail 4003 is slidably arranged on the driving rope large slide rail 4005, and the second driving rope semi-slide rail 4014 is slidably arranged on another driving rope large slide rail.

[0117] The first driving rope semi-slideway 4003 and the second driving rope semi-slideway 4014 are respectively vertically arranged on the joint bracket 4041 of the first cross axis, and slideways are arranged on the outer side walls of the first driving rope semi-slideway 4003 and the second driving rope semi-slideway 4014. The first driving rope semi-slideway 4003 can rotate around the first rotating shaft of the first cross axis, and the second driving rope semi-slideway 4014 can rotate around the second rotating shaft of the first cross axis.

[0118] The third driving rope semi-slide rail 4015 and the fourth driving rope semi-slide rail 4016 are respectively arranged vertically on the joint bracket of the second cross axis, and slideways are arranged on the outer side walls of the third driving rope semi-slide rail 4015 and the fourth driving rope semi-slide rail 4016. The third driving rope semi-slide rail 4015 is arranged parallel to and opposite to the first driving rope semi-slide rail 4003, and the fourth driving rope semi-slide rail 4016 is arranged parallel to and opposite to the second driving rope semi-slide rail 4014. The third driving rope semi-slide rail 4015 can rotate around the first rotating shaft of the second cross axis, and the fourth driving rope semi-slide rail 4016 can rotate around the second rotating shaft of the second cross axis.

[0119] The first short linkage large loop rope 4013 passes through the slideway on one side of the first drive rope semi-slideway 4003 of the first arm section, passes through the second arm section in an "S" shape, enters the slideway of the third drive rope semi-slideway 4015 of the third arm section and passes through the slideway, then passes through the second arm section in an "S" shape again, and finally enters the slideway on the other side of the first drive rope semi-slideway 4003 of the first arm section and passes through the first arm section. The first short linkage large loop rope 4013 is limited by the linkage rope fixed end block 4008.

[0120] Two first short linkage small ring ropes 4012 are provided. One end of the first short linkage small ring rope 4012 is wound around the first rotating shaft of the first cross shaft, and the other end of the first short linkage small ring rope 4012 is wound around the first rotating shaft of the second cross shaft, and the two first short linkage small ring ropes 4012 are symmetrically reversed and combined into an "8" shape.

[0121] The second short linkage rope (not shown in the attached drawings) passes through the slide on one side of the second driving rope semi-slide 4014 of the first arm section, passes through the second arm section in an "S" shape, enters the slide of the fourth driving rope semi-slide 4016 of the third arm section and passes out from the slide, then passes through the second arm section in an "S" shape again, and finally enters the slide on the other side of the second driving rope semi-slide 4014 of the first arm section and passes out from the first arm section; the second short linkage large ring rope is in an "8" shape.

[0122] Two second short linkage small ring ropes (not shown in the attached drawings) are provided, one end of the second short linkage small ring rope is wound around the second rotating shaft of the first cross shaft, and the other end of the second short linkage small ring rope is wound around the second rotating shaft of the second cross shaft, and the two second short linkage small ring ropes are symmetrically combined in opposite directions to form an "8" shape.

[0123] The adjacent shaft short linkage module 4000 can rotate the first arm 3001 and the second arm 3004 synchronously and oppositely by equal angles relative to the middle arm 3003 through the cooperation of the above components.

[0124] Both ends of the first short linkage large ring rope 4013, the first short linkage small ring rope 4012, the second short linkage large ring rope and the second short linkage small ring rope are inserted through the through hole of the hollow screw 4001 and are limited by the welding ball head, and the welding ball head is located outside the hollow screw 4001. The hollow screw 4001 is threadedly assembled on the arm section, and the position of the hollow screw 4001 can be adjusted to adjust the tension of both ends of the first short linkage large ring rope 4013 or the first short linkage small ring rope 4012 or the second short linkage large ring rope or the second short linkage small ring rope through the hollow screw 4001. More specifically, the linkage rope adjustment end block 4002 is installed on the upper arm, and there is a threaded hole through the linkage rope adjustment end block 4002. When the hollow screw 4001 is completely screwed into the threaded hole, it is in the initial state. The hollow screw 4001 can be screwed out to a certain height to increase the length that the linkage rope needs to pass through, thereby achieving the tensioning of the short linkage rope so that it remains in a tensioned state when the joint rotates at different angles.

[0125] The outer parts of the first short linkage large ring rope 4013 and the second short linkage large ring rope are covered with a short linkage rope sleeve 4007.

[0126] A plurality of short drive rope guide blocks 4006 are arranged on the second arm section. The first short linkage large loop rope 4013 and the second short linkage large loop rope respectively pass through a short drive rope guide block 4006 and are constrained by the short drive rope guide block 4006 to reduce the friction between the first short linkage large loop rope 4013 and the short linkage rope sleeve 4007.

[0127] The short linkage small ring rope (including the first short linkage small ring rope and the second short linkage small ring rope) is fixed using a linkage rope clamp 4011 and a hollow screw 4001. The short linkage small ring rope is wound in an "S" shape on the linkage rope winding cross shaft 4004, and the two short linkage small ring ropes are symmetrically combined in reverse to form an "8" shape.

[0128] In some embodiments, every at least four adjacent arm sections constitute a group of long linkage arm segments, and each arm section is respectively the fourth arm section, the fifth arm section and the sixth arm section, and there are at least two fifth arm sections. The fourth arm section and its adjacent fifth arm section are connected by a third cross axis, the sixth arm section and its adjacent fifth arm section are connected by a fourth cross axis, and two adjacent fifth arm sections are connected by a fifth cross axis, and the third cross axis and the fourth cross axis are linkage cross axes.

[0129] The intermittent shaft long linkage module 5000 includes some of the same parts in the adjacent shaft short linkage module, and also includes: a long linkage adjustment screw mounting block 4009, a long linkage adjustment screw 4010, a first long linkage large ring rope 5001, a second long linkage large ring rope 5002, a first long linkage small ring rope sleeve 5003, a second long linkage small ring rope sleeve 5004, a first long linkage large ring rope sleeve 5005, a second long linkage large ring rope sleeve 5006 and a long linkage rope guide block 5007.

[0130] Two first long linkage large loop ropes 5001 are provided. The first long linkage large loop ropes 5001 pass through the fourth arm segment, pass through the fifth arm segments in sequence, and then pass through the sixth arm segment. Both ends of the first long linkage large loop ropes 5001 are respectively limited between the fourth arm segment and the sixth arm segment. Each first long linkage large loop rope 5001 is "S"-shaped, and the two first long linkage large loop ropes 5001 are symmetrically arranged about the central axis of the flexible robotic arm 3000.

[0131] Two second long linkage large ring ropes 5002 are provided. One side of one second long linkage large ring rope 5002 is wound around the first rotating shaft of the third cross shaft, and the other side of the second long linkage large ring rope 5002 is wound around the first rotating shaft of the fourth cross shaft; one side of the other second long linkage large ring rope 5002 is wound around the second rotating shaft of the third cross shaft, and the other side of the second long linkage large ring rope 5002 is wound around the second rotating shaft of the fourth cross shaft, and the two second long linkage large ring ropes 5002 are both in the shape of "8".

[0132] The long linkage adjustment screw mounting block 4009 and the long linkage adjustment screw 4010 are mounted on the arm. By rotating the long linkage adjustment screw 4010, the relative height between the long linkage adjustment screw 4010 and the long linkage adjustment screw mounting block 4009 can be changed, thereby changing the rope preload. By arranging and installing a plurality of intermittent axis long linkage modules around the flexible mechanical arm, the equal curvature linkage of any two joints can be achieved.

[0133] The main difference between the intermittent axis long linkage module and the adjacent axis short linkage module is that any number of joints are included between the two linkage joints.

[0134] Obviously, the above embodiments are merely examples for clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the protection scope of the invention.

Claims

1. A space flexible manipulator rope cluster active-passive hybrid drive module, characterized in that: include: A rope cluster multi-axis drive module, the rope cluster multi-axis drive module comprising a plurality of rope cluster drive modules (1000), the rope cluster drive module (1000) comprising a rope drive mechanism and a drive rope (1700), one end of the drive rope (1700) being connected to the rope drive mechanism and moving linearly under the drive of the rope drive mechanism, the other end of the drive rope (1700) passing through at least one arm segment of a flexible mechanical arm (3000) and being connected to a kinematic pair of any arm segment in the arm segment; A segmented equal curvature linkage module, wherein the segmented equal curvature linkage module provides constraints for each arm segment in the arm segment, couples the same-direction motion axes of each arm segment in the arm segment through linkage ropes, and drives all arm segments to move synchronously at equal angles under the driving action of the rope cluster multi-axis drive module; the segmented equal curvature linkage module comprises an adjacent axis short linkage module (4000) and an intermittent axis long linkage module (5000), wherein the adjacent axis short linkage module (4000) is arranged between two adjacent arm segments in the same arm segment and is used to drive two adjacent arm segments in the arm segment to be linked at equal angles, and the intermittent axis long linkage module (5000) is arranged between two non-adjacent arm segments and is used to make the two non-adjacent arm segments perform equal-angle linkage.

2. The active-passive hybrid drive module of the space flexible manipulator rope cluster according to claim 1 is characterized in that: The rope drive mechanism comprises: A driving motor (1100); A screw rod (1300), wherein the screw rod (1300) is connected to an output shaft end of a driving motor (1100) via a coupling (1200); A flanged ball bearing (1500), wherein the flanged ball bearing (1500) is threadedly assembled with the lead screw (1300); A rope puller (1400), wherein the rope puller (1400) is arranged on the outer wall surface of the flanged ball bearing (1500), and the rope puller (1400) is connected to the driving rope (1700).

3. The space flexible manipulator rope cluster active-passive hybrid drive module according to claim 2 is characterized in that: A tension sensor (1600) is fixedly arranged on the outer side of the rope puller (1400), and the tension sensor (1600) is used to detect the tension value of the driving rope (1700).

4. The active-passive hybrid drive module of the space flexible manipulator rope cluster according to claim 2 is characterized in that: The rope cluster multi-axis driving module is positioned on the rope cluster multi-axis driving module mounting frame (2000); The rope cluster multi-axis drive module installation frame (2000) comprises: A motor mounting plate (2001), wherein a plurality of motor mounting holes are provided on the motor mounting plate (2001), and the drive motor (1100) is arranged in the motor mounting holes; A screw rod fixing plate (2004), wherein the screw rod fixing plate (2004) is connected to the motor mounting plate (2001) via a motor mounting plate bracket (2003); A frame upper plate (2009), wherein the frame upper plate (2009) is arranged in parallel with the screw rod fixing plate (2004), and two ends of the screw rod (1300) are rotatably arranged on the frame upper plate (2009) and the screw rod fixing plate (2004) respectively; A plurality of linear slide rail support plates (2006), each of the linear slide rail support plates (2006) being arranged at intervals between the screw rod fixing plate (2004) and the frame upper plate (2009); A plurality of linear slide rails (2007), wherein the linear slide rails (2007) are arranged on a linear slide rail support plate (2006), and the rope puller (1400) is slidably assembled on the linear slide rails (2007).

5. The active-passive hybrid drive module of the space flexible manipulator rope cluster according to claim 4 is characterized in that: The screw fixing plate (2004) is provided with a plurality of first screw fixing block through holes, in which a first screw fixing block (2005) is fixedly arranged; the frame upper plate (2009) is provided with a plurality of second screw fixing block through holes, the opening positions of the second screw fixing block through holes correspond to the opening positions of the first screw fixing block through holes, in which a second screw fixing block (2010) is fixedly arranged; one end of the screw (1300) is rotatably arranged on the first screw fixing block (2005), and the other end of the screw (1300) is rotatably arranged in the second screw fixing block (2010).

6. The active-passive hybrid drive module of the space flexible manipulator rope cluster according to claim 1 is characterized in that: The rope cluster multi-axis driving module provides active driving force for the arm segment based on the antagonism principle, so as to realize bending of the arm segment along the directions of the axes of the kinematic pair; And / or, the kinematic pair is a single-degree-of-freedom rotational joint or a dual-degree-of-freedom universal joint or a quaternion joint; And / or, the sizes of the arm segments and / or arm sections are in a heterogeneous or homogeneous manner; And / or, the two non-adjacent arm sections include two non-adjacent arm sections of the same arm segment and / or two non-adjacent arm sections of different arm segments.

7. The space flexible manipulator rope cluster active-passive hybrid drive module according to any one of claims 1 to 6, characterized in that: Every three adjacent arm sections form a group of short linkage arm sections, the three adjacent arm sections are respectively the first arm section, the second arm section and the third arm section, the first arm section is connected to the second arm section via a first cross shaft, the second arm section is connected to the third arm section via a second cross shaft, and the first cross shaft and the second cross shaft both have joint brackets (4041); The adjacent shaft short linkage module (4000) comprises: A first driving rope semi-slide rail (4003) and a second driving rope semi-slide rail (4014), wherein the first driving rope semi-slide rail (4003) and the second driving rope semi-slide rail (4014) are respectively arranged vertically on the joint bracket of the first cross axis, and slideways are arranged on the outer side walls of the first driving rope semi-slide rail (4003) and the second driving rope semi-slide rail (4014); A third driving rope semi-slide rail (4015) and a fourth driving rope semi-slide rail (4016), wherein the third driving rope semi-slide rail (4015) and the fourth driving rope semi-slide rail (4016) are respectively arranged vertically on the joint bracket of the second cross axis, and slideways are arranged on the outer side walls of the third driving rope semi-slide rail (4015) and the fourth driving rope semi-slide rail (4016), and the third driving rope semi-slide rail (4015) is arranged parallel to and opposite to the first driving rope semi-slide rail (4003), and the fourth driving rope semi-slide rail (4016) is arranged parallel to and opposite to the second driving rope semi-slide rail (4014); A first short linkage large loop rope (4013), the first short linkage large loop rope passes through the slideway on one side of the first drive rope semi-slideway (4003) of the first arm section, passes through the second arm section in an "S" shape, enters the slideway of the third drive rope semi-slideway (4015) of the third arm section, passes through the slideway, passes through the second arm section again in an "S" shape, and finally enters the slideway on the other side of the first drive rope semi-slideway (4003) of the first arm section and passes through the first arm section; the first short linkage large loop rope (4013) is in an "8" shape; Two first short linkage small ring ropes (4012), one end of the first short linkage small ring rope (4012) is wound around the first rotating shaft of the first cross shaft, and the other end of the first short linkage small ring rope (4012) is wound around the first rotating shaft of the second cross shaft, and the two first short linkage small ring ropes (4012) are symmetrically combined in opposite directions to form an "8" shape; A second short linkage large loop rope, wherein the second short linkage rope passes through the slideway on one side of the second drive rope semi-slideway (4014) of the first arm section, passes through the second arm section in an "S" shape, enters the slideway of the fourth drive rope semi-slideway (4016) of the third arm section, passes through the slideway, passes through the second arm section again in an "S" shape, and finally enters the slideway on the other side of the second drive rope semi-slideway (4014) of the first arm section and passes through the first arm section; the second short linkage large loop rope is in an "8" shape; Two second short linked small ring ropes, one end of the second short linked small ring rope is wound around the second rotating shaft of the first cross shaft, and the other end of the second short linked small ring rope is wound around the second rotating shaft of the second cross shaft, and the two second short linked small ring ropes are symmetrically combined in reverse to form an "8" shape.

8. The space flexible manipulator rope cluster active-passive hybrid drive module according to claim 7 is characterized in that: Both ends of the first short linkage large ring rope (4013), the first short linkage small ring rope (4012), the second short linkage large ring rope and the second short linkage small ring rope are inserted through the through hole of the hollow screw (4001) and are limited by the welding ball head, and the welding ball head is located outside the hollow screw (4001); And / or, the outer parts of the first short linkage large loop rope (4013) and the second short linkage large loop rope are sleeved with a short linkage rope sleeve (4007); And / or, a plurality of short drive rope guide blocks (4006) are provided on the second arm section, and the first short linked large loop rope (4013) and the second short linked large loop rope respectively pass through a short drive rope guide block (4006) and are constrained by the short drive rope guide block (4006).

9. The space flexible manipulator rope cluster active-passive hybrid drive module according to claim 8, characterized in that: The hollow screw (4001) is threadedly assembled on the arm section, and the position of the hollow screw (4001) can be adjusted to adjust the tension of both ends of the first short linkage large ring rope (4013) or the first short linkage small ring rope (4012) or the second short linkage large ring rope or the second short linkage small ring rope through the hollow screw (4001).

10. The space flexible manipulator rope cluster active-passive hybrid drive module according to any one of claims 1 to 6, characterized in that: Every at least four adjacent arm sections form a group of long linkage arm sections, and each arm section is a fourth arm section, a fifth arm section and a sixth arm section. There are at least two fifth arm sections, and the fourth arm section is connected to its adjacent fifth arm section via a third cross axis, and the sixth arm section is connected to its adjacent fifth arm section via a fourth cross axis. Two adjacent fifth arm sections are connected via a fifth cross axis, and the third cross axis and the fourth cross axis are linkage cross axes. The intermittent shaft length linkage module (5000) comprises: Two first long linkage large loop ropes (5001), the first long linkage large loop ropes (5001) pass through the fourth arm segment, pass through each fifth arm segment in sequence, and then pass through the sixth arm segment, the two ends of the first long linkage large loop ropes (5001) are respectively limited between the fourth arm segment and the sixth arm segment, each of the first long linkage large loop ropes (5001) is "S" shaped, and the two first long linkage large loop ropes (5001) are symmetrically arranged about the central axis of the flexible mechanical arm (3000); Two second long linkage large loop ropes (5002); one side of one of the second long linkage large loop ropes (5002) is wound around the first rotating shaft of the third cross axis, and the other side of the second long linkage large loop rope (5002) is wound around the first rotating shaft of the fourth cross axis; one side of the other second long linkage large loop rope (5002) is wound around the second rotating shaft of the third cross axis, and the other side of the second long linkage large loop rope (5002) is wound around the second rotating shaft of the fourth cross axis, and the two second long linkage large loop ropes (5002) are both in an "8" shape.

11. A space flexible manipulator rope cluster active-passive hybrid driving method, the method is based on the space flexible manipulator rope cluster active-passive hybrid driving module according to any one of claims 1 to 10, characterized in that: The following steps are involved: The flexible robot arm is divided into a plurality of arm segments, and adjacent arm segments are connected through kinematic pairs; Connecting multiple driving ropes to any arm joint kinematic pairs in the flexible robotic arm, controlling the movement of the driving ropes through the rope driving mechanism and serving as the active driving force of the flexible robotic arm; The same-direction motion axes of each arm segment in the flexible robotic arm are coupled together through linkage ropes. When at least one arm segment in the flexible robotic arm moves under the drive of an active driving force, the moving arm segment drives the remaining arm segments to move synchronously through the linkage ropes.

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