A space flexible robot arm rope cluster active-passive hybrid driving module and method

Abstract

The application discloses a kind of space flexible mechanical arm rope cluster main passive hybrid drive module and method, comprising: rope cluster multi-axis drive module, including multiple rope cluster drive module, rope cluster drive module includes rope driving mechanism and driving rope, one end of driving rope is connected with rope driving mechanism and linearly moves under the driving of rope driving mechanism, the other end of driving rope is connected with the kinematic pair of any arm section in arm section;Subsection equal curvature linkage module provides constraint for each arm section in arm section, and the same direction movement axis of each arm section in arm section is coupled together by linkage rope, and all arm sections are driven to equal angle synchronous motion under the driving effect of rope cluster multi-axis drive module.The application fundamentally solves the problem that underactuated flexible mechanical arm motion state is not unique, and the number of driving unit of full drive flexible mechanical arm is huge, while ensuring motion flexibility, end precision, structural stiffness, greatly reduces the overall number, mass and power consumption of driving unit.

Description

Technical Field

[0001] This invention relates to the field of robotic arm control technology, specifically to a hybrid active and passive drive module and method for a spatial flexible robotic arm with a rope cluster. Background Technology

[0002] This section provides only background information relevant to this disclosure and does not necessarily constitute prior art.

[0003] The spatial flexible robotic arm is slender, highly dexterous, and flexible, enabling it to perform dexterous tasks in narrow and highly crowded spaces, including fault detection, maintenance, and assembly.

[0004] Robotic arms capable of dexterous operations in confined and highly crowded spaces require small diameters, multiple degrees of freedom, and strong bending capabilities. Space robotic arms designed with modular joints integrate motors, reducers, drivers, and sensors at the joints, exposing them to outer space. This necessitates complex environmental protection measures, results in large arm diameters, and significantly increases the robotic arm's mass, inertia, and power consumption. Space robotic arms designed with all-drive cable transmission systems result in a large number of drives and high power consumption, making them unsuitable for applications on robotic satellites.

[0005] Therefore, it is urgent to propose new design ideas to solve the design challenges of flexible robotic arms in extreme spatial 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 manipulator technology, thereby providing a space flexible manipulator rope cluster active and passive hybrid drive module and method.

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

[0008] A hybrid active-passive drive module for a spatial flexible robotic arm with a rope cluster includes:

[0009] A rope cluster multi-axis drive module, comprising multiple rope cluster drive modules, each including a rope drive mechanism and a drive rope, wherein one end of the drive rope 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 passes through at least one arm segment of a flexible robotic arm and is connected to a kinematic pair of any arm joint within the arm segment.

[0010] The segmented equal curvature linkage module provides constraints for each arm segment within the arm segment, coupling the same-direction motion axes of each arm segment together through linkage ropes, and driving 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 includes adjacent axis short linkage modules and discontinuous axis long linkage modules. The adjacent axis short linkage modules are set between two adjacent arm segments in the same arm segment and are used to drive two adjacent arm segments within the arm segment to move at equal angles, while the discontinuous axis long linkage modules are set between two non-adjacent arm segments and are used to enable two non-adjacent arm segments to move at equal angles.

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

[0012] Drive motor;

[0013] A lead screw, which is connected to the output shaft end of a drive motor via a coupling;

[0014] A flanged ball bearing is threadedly assembled with a lead screw.

[0015] A rope puller is disposed on the outer wall surface with a flanged ball bearing and is connected to the drive rope.

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

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

[0018] A motor mounting plate is provided with multiple motor mounting holes, and the drive motor is disposed in the motor mounting holes;

[0019] A lead screw fixing plate is connected to the motor mounting plate via a motor mounting plate bracket.

[0020] The frame upper plate is arranged parallel to the lead screw fixing plate, and the two ends of the lead screw are respectively rotatably mounted on the frame upper plate and the lead screw fixing plate;

[0021] Multiple linear slide rail support plates are spaced apart between the lead screw fixing plate and the frame upper plate;

[0022] Multiple linear slide rails are provided, the linear slide rails are mounted on a linear slide rail support plate, and the pull rope is slidably mounted on the linear slide rails.

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

[0024] In some embodiments, the rope cluster multi-axis drive module provides active driving force to the arm segment based on the antagonistic principle, enabling the arm segment to bend along the axes of the kinematic pair.

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

[0026] And / or, the dimensions of the arm segments and / or arm sections are either heterogeneous or isogeneous;

[0027] And / or, the two non-adjacent arm segments include two arm segments that are not adjacent within the same arm segment and / or two arm segments that are not adjacent in different arm segments.

[0028] In some embodiments, every three adjacent arm segments constitute a group of short linked arm segments, the three adjacent arm segments being the first arm segment, the second arm segment and the third arm segment, the first arm segment and the second arm segment being connected by a first cross shaft, the second arm segment and the third arm segment being connected by a second cross shaft, and both the first cross shaft and the second cross shaft having joint supports;

[0029] The adjacent axis short linkage module includes:

[0030] The first drive rope semi-slide rail and the second drive rope semi-slide rail are respectively vertically mounted on the joint bracket of the first cross shaft. The outer side walls of the first drive rope semi-slide rail and the second drive rope semi-slide rail are provided with slide rails.

[0031] The third and fourth drive rope semi-slide rails are respectively vertically mounted on the joint bracket of the second cross shaft. The outer side walls of the third and fourth drive rope semi-slide rails are provided with slide rails. The third drive rope semi-slide rail is parallel to the first drive rope semi-slide rail, and the fourth drive rope semi-slide rail is parallel to the second drive rope semi-slide rail.

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

[0033] Two first short linkage loop ropes, one end of the first short linkage loop rope is wrapped around the first rotating shaft of the first cross shaft, and the other end of the first short linkage loop rope is wrapped around the first rotating shaft of the second cross shaft. The two first short linkage loop ropes are symmetrically and oppositely combined to form a figure "8".

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

[0035] Two second short linkage loop ropes, one end of which is wrapped around the second pivot of the first cross shaft, and the other end of which is wrapped around the second pivot of the second cross shaft. The two second short linkage loop ropes are symmetrically and oppositely combined to form a figure-eight shape.

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

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

[0038] And / or, the second arm segment is provided with multiple short drive rope guide blocks, 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 block.

[0039] In some embodiments, the hollow screw is threaded onto the boom section, and the position of the hollow screw is adjustable so that the tension of both ends of the first short linkage large loop rope, the first short linkage small loop rope, the second short linkage large loop rope, or the second short linkage small loop rope can be adjusted by the tension of the hollow screw.

[0040] In some embodiments, at least four adjacent arm segments constitute a group of long linkage arm segments, each arm segment being a fourth arm segment, a fifth arm segment, and a sixth arm segment. There are at least two fifth arm segments. The fourth arm segment is connected to its adjacent fifth arm segment via a third cross shaft. The sixth arm segment is connected to its adjacent fifth arm segment via a fourth cross shaft. Two adjacent fifth arm segments are connected via a fifth cross shaft. The third cross shaft and the fourth cross shaft are linkage cross shafts.

[0041] The discontinuous axis length linkage module includes:

[0042] Two first long linkage loop ropes are provided. The first long linkage loop ropes pass out from 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 loop ropes are respectively limited between the fourth arm section and the sixth arm section. Each first long linkage loop rope is "S" shaped, and the two first long linkage loop ropes are symmetrically arranged about the central axis of the flexible robotic arm.

[0043] Two second-longest linkage loop ropes; one side of one second-longest linkage loop rope is wrapped around the first rotating shaft of the third cross axis, and the other side of the second-longest linkage loop rope is wrapped around the first rotating shaft of the fourth cross axis; one side of the other second-longest linkage loop rope is wrapped around the second rotating shaft of the third cross axis, and the other side of the second-longest linkage loop rope is wrapped around the second rotating shaft of the fourth cross axis. Both second-longest linkage loop ropes are in a figure-eight shape.

[0044] A hybrid active-passive drive method for a spatial flexible robotic arm with a rope cluster, the method being based on the aforementioned hybrid active-passive drive module for the spatial flexible robotic arm with a rope cluster, includes the following steps:

[0045] The flexible robotic arm is divided into multiple arm segments, and adjacent arm segments are connected by kinematic pairs.

[0046] Multiple drive ropes are connected to any joint of the flexible robotic arm, and the movement of the drive ropes is controlled by the rope drive mechanism and used as the active driving force of the flexible robotic arm.

[0047] The unidirectional motion axes of each segment within the flexible robotic arm are coupled together via a linkage rope. When at least one segment of the flexible robotic arm moves under the drive of an active driving force, the moving segment drives the remaining segments to move synchronously via the linkage rope.

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

[0049] This invention provides a hybrid active and passive drive module and method for a spatial flexible robotic arm using a rope cluster. It employs a structure of "discrete rigid linkage + kinematic pair + rope drive mechanism + rope linkage mechanism." The entire robotic arm is composed of multiple arm segments connected in series, each segment comprising multiple arm sections. Arm segments and arm sections are connected via kinematic pairs. Each arm segment is driven by a rope cluster drive module, and the sections within a segment are constrained by a rope linkage mechanism (i.e., a segmented equal curvature linkage module, including a linkage rope and a rope sleeve). This combines active drive of the arm segments with passive linkage within the arm segments, enabling flexible overall movement of the robotic arm.

[0050] This invention fundamentally solves the problems of non-unique motion states in underactuated flexible robotic arms and the huge number of drive units in fully actuated flexible robotic arms. While ensuring motion flexibility, end-effector accuracy, and structural rigidity, it greatly reduces the overall number, weight, and power consumption of drive units. Attached Figure Description

[0051] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0052] Figure 1 This is a schematic diagram of the active and passive hybrid drive method of the rope cluster for the spatial flexible robotic arm of the present invention.

[0053] Figure 2 This is a schematic diagram of the rope cluster multi-axis drive module structure in the spatial flexible robotic arm rope cluster active-passive hybrid drive module of the present invention.

[0054] Figure 3 This is a schematic diagram of the rope cluster drive module structure in the spatial flexible robotic arm rope cluster active-passive hybrid drive module of the present invention.

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

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

[0057] Figure 6 This is a schematic diagram of the segmented, equal-curvature adjacent-axis short linkage module structure in the active-passive hybrid drive module of the spatial flexible robotic arm rope cluster of the present invention.

[0058] Figure 7This is a schematic diagram of the segmented equal curvature discontinuous axis length linkage module structure in the active-passive hybrid drive module of the spatial flexible robotic arm rope cluster of the present invention.

[0059] Figure 8 This is a schematic diagram of the structure of the cross shaft in the active-passive hybrid drive module of the spatial flexible robotic arm rope cluster of the present invention, when it is connected to the first drive rope semi-slide rail and the second drive rope semi-slide rail.

[0060] Figure 9 This is a schematic diagram of the structure of the cross shaft in the active-passive hybrid drive module of the spatial flexible robotic arm rope cluster when it is connected to the arm segment.

[0061] Figure 10 For the present invention Figure 9 A structural diagram of the short linkage loop rope during positioning.

[0062] Figure label:

[0063] 1000 Rope bundle drive module, 1100 Drive motor, 1200 Coupling, 1300 Lead screw, 1400 Rope puller, 1500 Flange ball bearing, 1600 Tension sensor, 1700 Drive rope.

[0064] 2000. Rope bundle multi-axis drive module mounting frame; 2001. Motor mounting plate; 2002. Motor fixing plate; 2003. Motor mounting plate bracket; 2004. Screw fixing plate; 2005. First screw fixing block; 2006. Linear slide rail support plate; 2007. Linear slide rail; 2008. Linear slide rail slider; 2009. Frame upper plate; 2010. Second screw fixing block.

[0065] 3000, Flexible robotic arm; 3001, First arm; 3002, Connecting plate; 3003, Intermediate arm; 3004, Second arm.

[0066] 4000, Adjacent axis short linkage module; 4001, Hollow screw; 4002, Linkage rope adjusting end block; 4003, First drive rope semi-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 fixing end block; 4009, Long linkage adjusting screw mounting block; 4010, Long linkage adjusting screw; 4011, Linkage rope clamp block; 4012, Short linkage small loop rope; 4013, Short linkage large loop rope; 4014, Second drive rope semi-slide rail.

[0067] 5000, Intermittent long linkage module; 5001, First long linkage large loop rope; 5002, Second long linkage large loop rope; 5003, First long linkage small loop rope sleeve; 5004, Second long linkage small loop rope sleeve; 5005, First long linkage large loop rope sleeve; 5006, Second long linkage large loop rope sleeve; 5007, Long linkage rope guide block;

[0068] 01. Drive structure; 02. Motor; 04. Tensioner; 07. Kinematic pair; 08. Arm joint; 10. Linkage rope A end; 12. First joint; 13. First linkage rope; 14. Second linkage rope; 15. Second joint; 16. Linkage rope B end; 21. Fourth linkage rope A end; 24. Third joint; 25. Third linkage rope; 26. First rope sleeve; 27. Fourth joint; 30. Fourth linkage rope; 31. Second rope sleeve; 32. Fourth linkage rope B end. Detailed Implementation

[0069] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0070] Spatial flexible robotic arms are slender, highly dexterous, and flexible, enabling them to perform dexterous tasks in narrow and highly congested spaces, including fault detection, maintenance, and assembly. Robotic arms capable of performing dexterous tasks in narrow and highly congested spaces require small diameters, multiple degrees of freedom, and strong bending capabilities.

[0071] Modular joint-based solutions integrate motors, reducers, drivers, and sensors at the joints, exposing them to outer space. This requires complex environmental protection measures, results in large arm diameters, and significantly increases the robotic arm's mass, inertia, and power consumption. For example, the US Orbital Express space robotic arm is 3 meters long, has 6 degrees of freedom, weighs 71 kg, and consumes 131 W. All-drive cable-driven solutions increase the number of drives considerably. A typical example is the snake-like robotic arm developed by the British company OC, which is 2.5 meters long, has 24 degrees of freedom, requires 32 motors, weighs over 1000 kg, and consumes 4400 W, making it unsuitable for robotic satellite applications. Elastic support-based solutions offer good overall arm flexibility, but their precision and stiffness do not meet the requirements for on-orbit operations. Therefore, new design concepts are urgently needed to solve the design challenges of flexible space robotic arms in extreme space environments.

[0072] Based on this, this project has invented a hybrid active and passive drive method for a spatial flexible robotic arm using rope bundles, as well as a multi-axis drive module and a segmented equal curvature linkage module based on this method. Utilizing the results of this invention, spatial flexible robotic arms of different lengths, outer diameters, and degrees of freedom can be constructed, exhibiting characteristics such as continuous and complete arm shape, flexible movement, adjustable stiffness, and a small number of drives.

[0073] The specific embodiments of the present invention will now be described in detail with reference to the rope cluster active-passive hybrid drive method for the spatial flexible robotic arm of the first aspect of the present invention.

[0074] It should be noted that the rope cluster active-passive hybrid drive method for the spatial 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 drive method for the spatial flexible manipulator of the present invention can adopt the method of the first aspect of the present invention or other methods. For ease of explanation, the following description will be based on the rope cluster active-passive hybrid drive method for the spatial flexible manipulator of the first aspect of the present invention.

[0075] This embodiment discloses a hybrid active-passive drive method for a spatial flexible robotic arm with a rope cluster, including the following steps:

[0076] The flexible robotic arm is divided into multiple arm segments, and adjacent arm segments are connected by kinematic pairs.

[0077] Multiple drive ropes are connected to any segment kinematic pair in the flexible robotic arm, and the movement of the drive ropes is controlled by the rope drive mechanism, which serves as the active driving force for the flexible robotic arm.

[0078] The unidirectional motion axes of each segment within the flexible robotic arm are coupled together by linkage ropes, and the kinematic pairs of each segment within the arm are constrained by the linkage ropes. When the arm segment is driven by the drive unit, all segments within the arm segment move synchronously at equal angles.

[0079] The boom segment drive mechanism, which consists of a rope drive group and a rope linkage mechanism, is called a rope cluster active-passive hybrid drive mechanism. Under its action, it can simultaneously achieve "active drive of the entire boom segment" and "inter-segment boom segment linkage at equal angles".

[0080] Combination Figure 1The diagram illustrates the principle of a hybrid active-passive drive method for a flexible robotic arm. The entire arm segment is divided into multiple arm sections 08, each connected by a kinematic pair 07. In this invention, the kinematic pair of the flexible robotic arm arm section is a cross-axis joint. Several drive ropes 1700 are connected to a motor 02 via a tensioner 04, a lead screw 1300, and a coupling 1200. The rotational motion of the motor 02 is converted into linear motion of the drive ropes 1700. Drive ropes 06 provide active driving force to the entire arm segment based on the antagonistic principle, enabling omnidirectional bending motion of the arm segment. The kinematic pairs 07 of each arm section 08 within the segment are constrained by the first linkage rope 13, the second linkage rope 14, the third linkage rope 25, and the fourth linkage rope 30. During the period when the entire segment is driven by the active rope, all arm sections 08 move synchronously at equal angles. Through a set of drive structures 01, a hybrid active-passive drive of the rope cluster is simultaneously achieved, realizing both "overall active drive of the arm segment" and "equal-angle linkage of each section within the segment."

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

[0082] Each drive rope 1700 includes two ends: an active drive rope end A and an active drive rope end B. The active drive rope end A is connected to the motor. Starting from the motor, the drive rope passes through the rope holes of each arm segment in the aforementioned flexible robotic arm. The active drive rope end B can be connected to any segment within the driven arm segment. A set of drive ropes consists of three ropes of the same length and diameter, collectively controlling two degrees of freedom for one 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 (first linkage rope 13 and second linkage rope 14) and discontinuous axis long linkage ropes (third linkage rope 25 and fourth linkage rope 30). The adjacent axis short linkage ropes constrain adjacent first joints 12 and second joints 15 within the arm segment, ensuring that adjacent joints within the arm segment are linked at equal angles; the discontinuous axis long linkage ropes constrain two non-adjacent joints (third joint 24 and fourth joint 27) within the arm segment, ensuring that non-adjacent joints (third joint 24 and fourth joint 27) within the arm segment are linked at equal angles. The aforementioned two non-adjacent joints (third joint 24 and fourth joint 27) can contain any number of joints and arm segments.

[0084] The aforementioned linkage rope drive is a passive drive method, and the driving principle is the same for short linkage between adjacent axes and long linkage between intermittent axes. For short linkage between adjacent axes, the total length L of a single first linkage rope 13 remains unchanged. The first linkage rope 13 includes two ends: linkage rope A end 10 and linkage rope B end 16. Linkage rope A end is fixed at any point on a concentric circle of the first joint 12, and linkage rope B end 13 is naturally wound around the aforementioned concentric circle. Similarly, linkage rope B end is fixed at any point on a concentric circle of the same size on the second joint 15 that is linked with the first joint 12, and the first linkage rope B end is naturally wound around the aforementioned concentric circle. When the first joint 12 rotates counterclockwise by an angle θ1, the first linkage rope 13 is passively tensioned, generating a pulling force. Under the action of the rope tension, the second joint 15 passively rotates by an angle θ2. Since the total length of the first linkage rope within the linkage rope A end 10 and linkage rope B end 16 must remain unchanged, θ1 and θ2 are equal, thus achieving linkage between adjacent joints (first joint 12 and second joint 15) in one direction, rotating by the same angle (θ1, θ2). The second linkage rope 14 is arranged symmetrically to the first linkage rope 13 in a small figure-eight shape, thereby achieving linkage between adjacent joints in both directions.

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

[0086] In short-link passive drive of adjacent axes, every two adjacent joints rotate by an equal angle; in long-link passive drive of discontinuous axes, any two non-adjacent joints rotate by an equal angle. Figure 1 The diagram in the center illustrates the linkage principle within a plane. In reality, adjacent short-axis linkages and discontinuous long-axis linkages are symmetrically arranged around the perimeter to achieve three-dimensional, equal-curvature linkage of a single arm segment with two degrees of freedom. Through the combined action of these two methods, a single arm segment containing any number of joints can achieve equal-curvature linkage of all joints within the arm segment under the combined action of adjacent short-axis linkages and discontinuous long-axis linkages.

[0087] The aforementioned spatial flexible robotic arm's rope cluster active-passive hybrid drive method adopts a structure of "discrete rigid linkage + kinematic pair + rope drive mechanism + rope linkage mechanism". The entire arm segment is divided into multiple arm sections, each connected by a kinematic pair. Several ropes are connected to a drive motor as a group, providing active driving force for the entire arm segment based on the antagonistic principle, realizing omnidirectional bending motion of the arm segment. The kinematic pairs of each arm section within the arm segment are constrained by the linkage ropes. During the period when the entire segment is driven by the active rope, all arm sections move synchronously at equal angles. Through a set of rope cluster multi-axis drive modules, "active drive of the entire arm segment" and "equal angle linkage of each section within the segment" are simultaneously realized, greatly reducing the overall number, mass and power consumption of the drive unit.

[0088] Furthermore, a flexible spatial manipulator suitable for different degrees of freedom and lengths is proposed. The manipulator has N segments (N≥1), each segment has M (M≥1) arm joints and kinematic pairs, and each kinematic pair has k (k≥1) degrees of freedom. Each arm segment has k degrees of freedom and kM motion axes, driven by one drive group. Multiple arm segments can be connected in series to construct the entire manipulator. The entire manipulator composed of N segments has kN degrees of freedom and kNM motion axes, driven by N drive groups. When using universal joints as kinematic pairs, each kinematic pair has two motion axes: pitch (P) and yaw (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 the joints sequentially according to the rule of parallel adjacent axes, the entire manipulator forms a series structure of (PY-YP-PY-…-YP).

[0089] The aforementioned rope cluster consists of several multi-strand steel wire ropes of different lengths and diameters, including drive ropes and linkage ropes.

[0090] Furthermore, each drive rope includes two ends: end A and end B. End A is connected to the motor, and the drive rope passes through the rope holes of each arm segment in the flexible robotic arm, starting from the motor. End B can be connected to any segment within the driven arm segment. A set of drive ropes consists of three ropes of the same length and diameter, which together control two degrees of freedom of one arm segment.

[0091] The linkage ropes include: short linkage ropes on adjacent axes and long linkage ropes on discontinuous axes. The short linkage ropes on adjacent axes constrain two adjacent joints within the arm segment, ensuring that adjacent joints within the arm segment move at equal angles; the long linkage ropes on discontinuous axes constrain two non-adjacent joints within the arm segment, ensuring that non-adjacent joints within the arm segment move at equal angles. Any number of joints can be included between the aforementioned non-adjacent joints.

[0092] The linkage rope drive is a passive drive method, and its driving principle is the same for short linkage ropes on adjacent axes and long linkage ropes on discontinuous axes. The total length L of a single linkage rope remains constant. The linkage rope includes two ends: end a and end b. End a is fixed at a point on a concentric circle of the revolute joint of any joint J_1, and the linkage rope at end a naturally winds around this concentric circle. Similarly, end b is fixed at a point on a concentric circle of the same size on the revolute joint of joint J_2, which is linked to joint J_1, and the linkage rope at end b naturally winds around this concentric circle. When joint J_1 rotates by an angle θ, since the total length of the rope at ends a and b remains constant, joint J_2 passively rotates by the same angle θ under the tension of the rope, thus achieving the same angle rotation of the two linked joints.

[0093] Based on the aforementioned hybrid active-passive drive method for flexible robotic arms, this invention provides a rope cluster hybrid active-passive drive module for spatial flexible robotic arms. The rope cluster multi-axis drive module based on this drive method consists of several motors, lead screws, and rope transmission mechanisms, transmitting the motor motion and power remotely via ropes. The segmented equal-curvature linkage module consists 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 bend with equal curvature along the axes of the kinematic pairs. Combining the rope cluster multi-axis drive module and the segmented equal-curvature linkage module can construct spatial flexible robotic arms of different lengths and degrees of freedom.

[0094] The specific embodiments of the present invention will now be described in detail with reference to the rope cluster active-passive hybrid drive module of the spatial flexible robotic arm in the second aspect of the present invention.

[0095] It should be noted that the rope cluster active-passive hybrid drive module of the spatial flexible manipulator of the second aspect of the present invention is only a preferred embodiment of the present invention. The rope cluster active-passive hybrid drive module of the spatial flexible manipulator of the present invention can adopt the module of the second aspect of the present invention or other devices. For ease of explanation, the following description will be based on the rope cluster active-passive hybrid drive module of the spatial flexible manipulator of the second aspect of the present invention.

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

[0097] The rope cluster multi-axis drive module includes multiple rope cluster drive modules 1000. Each 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 its drive. The other end of the drive rope 1700 passes through at least one arm segment of the flexible robotic arm 3000 and is connected to the kinematic pair of any segment within that arm segment. The rope cluster multi-axis drive module provides active driving force to the arm segment based on the antagonistic principle, enabling the arm segment to bend along the axes of the kinematic pair.

[0098] The segmented equal curvature linkage module provides constraints for each segment within the boom section, coupling the same-direction motion axes of each segment together via linkage ropes. Driven by the rope-bundle multi-axis drive module, all segments move synchronously at equal angles. The segmented equal curvature linkage module includes adjacent-axis short linkage modules 4000 and discontinuous-axis long linkage modules 5000. The adjacent-axis short linkage modules 4000 are positioned between two adjacent segments within the same boom section and are used to drive equal-angle linkage between two adjacent segments within that boom section. The discontinuous-axis long linkage modules 5000 are positioned between two non-adjacent segments and are used to enable equal-angle linkage between two non-adjacent segments. The non-adjacent segments include two non-adjacent segments within the same boom section and two non-adjacent segments from different boom sections.

[0099] The aforementioned flexible spatial robotic arm's rope cluster hybrid active-passive drive module adopts a structure of "discrete rigid linkage + kinematic pair + rope drive mechanism + rope linkage mechanism." The entire manipulator is composed of multiple arm segments connected in series, and each arm segment includes multiple arm sections. Arm segments and arm sections are connected by kinematic pairs. Each arm segment is driven by a rope cluster drive module, and the sections within each segment are constrained by a rope linkage mechanism (i.e., a segmented equal-curvature linkage module, including linkage ropes and rope sleeves). This combines the active drive of the arm segments with the passive linkage within each arm segment, enabling the overall flexible movement of the robotic arm.

[0100] In some embodiments, the rope drive mechanism includes a drive motor 1100, a lead screw 1300, a flanged ball bearing 1500, and a rope puller 1400. The lead screw 1300 is connected to the output shaft of the drive motor 1100 via a coupling 1200, which enables the lead screw 1300 and the drive motor 1100 to rotate synchronously. The flanged ball bearing 1500 is connected to the lead screw 1300 via a helical pair, converting the rotational motion of the lead screw 1300 into the linear motion of the flanged ball bearing 1500. The rope puller 1400 is disposed on the outer wall of the flanged ball bearing 1500; more specifically, the inner side of the rope puller 1400 is bolted to the flanged ball bearing 1500, and both move linearly synchronously. The rope puller 1400 is connected to the drive rope 1700.

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

[0102] In this embodiment, the lead screw 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 guide hole on the boom segment, runs through the entire boom segment, and is fixed to the circumference of the boom, forming an antagonistic drive to achieve omnidirectional bending motion of the entire boom segment. By adjusting the tension distribution of the antagonistic rope, the stiffness of the entire boom segment can be controlled.

[0103] More specifically, the method for adjusting the tension distribution of the antagonistic ropes is as follows: Based on the degree of bending required by the flexible robotic arm 3000, control information for each rope drive mechanism is obtained. Different degrees of bending by the flexible robotic arm 3000 result in different levels of tension control on the drive rope 1700. The tension of the drive rope 1700 connected to the drive mechanism is controlled through the rope drive mechanism. The method for controlling the tension of the drive rope 1700 is as follows: The position of the flanged ball bearing 1500 is adjusted by the drive motor 1100, thereby adjusting the tension of the drive rope 1700.

[0104] In some embodiments, a tension sensor 1600 is fixedly mounted 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 drive rope 1700, thereby obtaining real-time tension information of the drive rope 1700, which facilitates further control of the drive motor 1100. When the detected tension value of the drive rope 1700 is less than the set tension value, the rope puller 1400 is controlled to move away from the flexible robotic arm 3000; when the detected tension value of the drive rope 1700 is greater than the set tension value, the rope puller 1400 is controlled to move closer to the flexible robotic arm 3000.

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

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

[0107] The motor mounting plate 2001 has multiple motor mounting holes, and the drive motor 1100 is installed in the motor mounting holes. The motor mounting plate 2001 can install 12 rope tuft drive modules 1000, but it is not limited to 12; the number of rope tuft drive modules 1000 installed can be set according to the actual situation. The drive motor 1100 in the rope tuft drive module 1000 is fixed to the motor mounting plate 2001 by a motor fixing plate 2002.

[0108] The lead screw fixing plate 2004 and the motor mounting plate 2001 are connected by the motor mounting plate bracket 2003, which serves to support and ensure the distance between the two.

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

[0110] Multiple linear guide rail support plates 2006 are provided, each spaced apart between the lead screw fixing plate 2004 and the frame upper plate 2009. Twelve linear guide rail support plates 2006 can be installed on the lead screw fixing plate 2004, the number corresponding to the number of rope drive modules 1000 installed. Multiple linear guide rails 2007 are provided, each mounted on a linear guide rail support plate 2006. More specifically, the linear guide rails 2007 are fixed by bolts to pre-drilled threaded holes on the linear guide rail support plates 2006. One linear guide rail slider 2008 on each linear guide rail 2007 can move freely within an allowable length along the linear guide rail direction.

[0111] The rope puller 1400 is slidably mounted on the linear guide rail 2007. The end face of the linear guide 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 rotary joint, or a two-degree-of-freedom universal joint and quaternion joint. The kinematic pair used may be other forms of kinematic pair, and the specific form of the kinematic pair is not limited here.

[0113] In some embodiments, the dimensions of the arm segments and / or arm sections are either heterogeneous or homogeneous. Heterogeneous means that the diameter, length, and number of arm sections within each segment can be different; while homogeneous means that the entire robotic arm is composed of arm segments with identical structure and dimensions, and the number and size of each segment are also completely identical.

[0114] In some embodiments, a segmented equal curvature linkage module, such as Figure 5 , 6 As shown in Figure 7, the module includes: an arm segment, a bidirectional synchronous symmetrical rope, an equivalent spherical structure, and a sleeve guide assembly. The arm segment can be a cross-axis joint, a quaternion joint, or other types of joints. The aforementioned bidirectional synchronous symmetrical ropes are of equal length and diameter, and are installed symmetrically in opposite directions on the equivalent spherical structure of the two linkage joints, forming a figure-eight shape. The sleeve guide assembly guides the shape and position of the linkage rope in three-dimensional space; changing the shape and material of the sleeve guide assembly can change the friction between the linkage rope and the sleeve guide assembly. The aforementioned segmented equal curvature linkage module can achieve coaxial equal-angle linkage of each joint within the module in two directions, and the linkage module can be expanded from a single level to multiple levels according to task requirements.

[0115] In some embodiments, every three adjacent arm segments constitute a group of short linked arm segments, namely a first arm segment, a second arm segment, and a third arm segment. The first arm segment and the second arm segment are connected by a first cross shaft, and the second arm segment and the third arm segment are connected by a second cross shaft. Both the first cross shaft and the second cross shaft have joint supports 4041. A connecting plate 3002 is provided on the arm segment, and the connecting plate 3002 is connected to the rotating shaft on the adjacent joint supports 4041.

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

[0117] The first drive rope semi-slide rail 4003 and the second drive rope semi-slide rail 4014 are respectively vertically mounted on the joint bracket 4041 of the first cross shaft. Slide tracks are provided on the outer walls of both the first drive rope semi-slide rail 4003 and the second drive rope semi-slide rail 4014. The first drive rope semi-slide rail 4003 can rotate around the first axis of rotation of the first cross shaft, and the second drive rope semi-slide rail 4014 can rotate around the second axis of rotation of the first cross shaft.

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

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

[0120] Two first short linkage loop ropes 4012 are provided. One end of the first short linkage loop rope 4012 is wrapped around the first rotating shaft of the first cross shaft, and the other end of the first short linkage loop rope 4012 is wrapped around the first rotating shaft of the second cross shaft. The two first short linkage loop ropes 4012 are symmetrically and oppositely combined to form a figure-eight shape.

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

[0122] Two second short linkage loop ropes (not shown in the attached diagram) are provided. One end of the second short linkage loop rope is wrapped around the second rotating shaft of the first cross shaft, and the other end of the second short linkage loop rope is wrapped around the second rotating shaft of the second cross shaft. The two second short linkage loop ropes are symmetrically and oppositely combined to form a figure "8" shape.

[0123] The aforementioned adjacent-axis short linkage module 4000, through the combined action of the aforementioned components, allows the first arm 3001 and the second arm 3004 to rotate synchronously in opposite directions relative to the intermediate arm 3003 by equal angles.

[0124] Both ends of the first short linkage large loop rope 4013, the first short linkage small loop rope 4012, the second short linkage large loop rope, and the second short linkage small loop rope are inserted through the through holes of the hollow screw 4001 and limited by the welded ball head, which is located outside the hollow screw 4001. The hollow screw 4001 is threaded onto the boom section, and its position is adjustable so that the tension of both ends of the first short linkage large loop rope 4013, the first short linkage small loop rope 4012, the second short linkage large loop rope, or the second short linkage small loop rope can be adjusted through the hollow screw 4001. More specifically, the linkage rope adjusting end block 4002 is installed on the previous boom, and the linkage rope adjusting end block 4002 has a through threaded hole. The hollow screw 4001 is in its initial state when it is fully screwed into the threaded hole. The hollow screw 4001 can be screwed out to a certain height, increasing the length that the linkage rope needs to pass through, thereby achieving tension of the short linkage rope and keeping it taut when the joint rotates at different angles.

[0125] The outer parts of the first short linkage large loop rope 4013 and the second short linkage large loop rope are fitted with short linkage rope sleeves 4007.

[0126] The second arm section is provided with multiple short drive rope guide blocks 4006. 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, thereby reducing the friction between the first short linkage large loop rope 4013 and the short linkage rope sleeve 4007.

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

[0128] In some embodiments, at least four adjacent arm segments constitute a group of long linkage arm segments, each arm segment being a fourth arm segment, a fifth arm segment, and a sixth arm segment. There are at least two fifth arm segments. The fourth arm segment is connected to its adjacent fifth arm segment via a third cross shaft, the sixth arm segment is connected to its adjacent fifth arm segment via a fourth cross shaft, and two adjacent fifth arm segments are connected via a fifth cross shaft. The third cross shaft and the fourth cross shaft are linkage cross shafts.

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

[0130] Two first long linkage loop ropes 5001 are provided. The first long linkage loop ropes 5001 emerge from 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 loop ropes 5001 are respectively limited between the fourth arm section and the sixth arm section. Each first long linkage loop rope 5001 is "S" shaped, and the two first long linkage loop ropes 5001 are symmetrically arranged about the central axis of the flexible robotic arm 3000.

[0131] Two second-long linkage loop ropes 5002 are provided. One side of one second-long linkage loop rope 5002 is wrapped around the first rotating shaft of the third cross shaft, and the other side of the second-long linkage loop rope 5002 is wrapped around the first rotating shaft of the fourth cross shaft; the other second-long linkage loop rope 5002 is wrapped around the second rotating shaft of the third cross shaft, and the other side of the second-long linkage loop rope 5002 is wrapped around the second rotating shaft of the fourth cross shaft. Both second-long linkage loop ropes 5002 are in a figure-eight shape.

[0132] The long linkage adjusting screw mounting block 4009 and the long linkage adjusting screw 4010 are installed on the arm. By rotating the long linkage adjusting screw 4010, the relative height between the long linkage adjusting screw 4010 and the long linkage adjusting screw mounting block 4009 can be changed, thereby changing the rope preload. By arranging and installing several discontinuous shaft long linkage modules around the flexible robotic arm, equal curvature linkage between 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: there are also any number of joints between the two linkage joints.

[0134] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A hybrid active-passive drive module for a spatial flexible robotic arm with a rope cluster, characterized in that, include: A rope cluster multi-axis drive module, comprising multiple rope cluster drive modules (1000), each rope cluster drive module (1000) including 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, and the other end of the drive rope (1700) passing through at least one arm segment of a flexible robotic arm (3000) and being connected to a kinematic pair of any arm joint within the arm segment; The segmented equal curvature linkage module provides constraints for each arm segment within the arm segment, couples the same-direction motion axes of each arm segment together 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 includes adjacent axis short linkage module (4000) and discontinuous axis long linkage module (5000). The adjacent axis short linkage module (4000) is set between two adjacent arm segments in the same arm segment and is used to drive two adjacent arm segments in the arm segment to move at equal angles. The discontinuous axis long linkage module (5000) is set between two non-adjacent arm segments and is used to enable two non-adjacent arm segments to move at equal angles. At least four adjacent arm segments form a group of long linkage arm segments, each arm segment being the fourth arm segment, the fifth arm segment, and the sixth arm segment. There are at least two fifth arm segments. The fourth arm segment is connected to its adjacent fifth arm segment via a third cross shaft. The sixth arm segment is connected to its adjacent fifth arm segment via a fourth cross shaft. Two adjacent fifth arm segments are connected via a fifth cross shaft. The third cross shaft and the fourth cross shaft are linkage cross shafts. The discontinuous axial length linkage module (5000) includes: Two first long linkage loop ropes (5001) are provided. The first long linkage loop ropes (5001) pass out from 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 loop ropes (5001) are respectively limited between the fourth arm segment and the sixth arm segment. Each first long linkage loop rope (5001) is "S" shaped, and the two first long linkage loop ropes (5001) are symmetrically arranged about the central axis of the flexible robotic arm (3000). Two second-longest linkage loop ropes (5002); one side of one second-longest linkage loop rope (5002) is wrapped around the first rotating shaft of the third cross shaft, and the other side of the second-longest linkage loop rope (5002) is wrapped around the first rotating shaft of the fourth cross shaft; one side of the other second-longest linkage loop rope (5002) is wrapped around the second rotating shaft of the third cross shaft, and the other side of the second-longest linkage loop rope (5002) is wrapped around the second rotating shaft of the fourth cross shaft. Both second-longest linkage loop ropes (5002) are in a figure-eight shape.

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

3. The spatial flexible robotic arm rope cluster active-passive hybrid drive module according to claim 2, characterized in that, A tension sensor (1600) is fixedly installed on the outside of the rope puller (1400), and the tension sensor (1600) is used to detect the tension value of the drive rope (1700).

4. The spatial flexible robotic arm rope cluster active-passive hybrid drive module according to claim 2, characterized in that, The rope bundle multi-axis drive module is positioned on the rope bundle multi-axis drive module mounting frame (2000); The rope bundle multi-axis drive module mounting frame (2000) includes: A motor mounting plate (2001) is provided with a plurality of motor mounting holes, and the drive motor (1100) is disposed in the motor mounting holes; A lead screw fixing plate (2004) is connected to a motor mounting plate (2001) via a motor mounting plate bracket (2003). The frame upper plate (2009) is arranged in parallel with the lead screw fixing plate (2004), and the two ends of the lead screw (1300) are respectively rotatably mounted on the frame upper plate (2009) and the lead screw fixing plate (2004); Multiple linear slide rail support plates (2006) are provided, with each linear slide rail support plate (2006) spaced apart between the lead screw fixing plate (2004) and the frame upper plate (2009); Multiple linear slide rails (2007) are mounted on a linear slide rail support plate (2006), and the rope puller (1400) is slidably mounted on the linear slide rails (2007).

5. The spatial flexible robotic arm rope cluster active-passive hybrid drive module according to claim 4, characterized in that, The lead screw fixing plate (2004) has multiple first lead screw fixing block through holes, and a first lead screw fixing block (2005) is fixedly installed in the first lead screw fixing block through hole; the frame upper plate (2009) has multiple second lead screw fixing block through holes, the opening position of the second lead screw fixing block through holes corresponds to the opening position of the first lead screw fixing block through holes, and a second lead screw fixing block (2010) is fixedly installed in the second lead screw fixing block through hole; one end of the lead screw (1300) is rotatably installed on the first lead screw fixing block (2005), and the other end of the lead screw (1300) is rotatably installed in the second lead screw fixing block (2010).

6. The spatial flexible robotic arm rope cluster active-passive hybrid drive module according to claim 1, characterized in that, The rope cluster multi-axis drive module provides active driving force to the arm segment based on the antagonistic principle, enabling the arm segment to bend along the axes of the kinematic pair. And / or, the kinematic pair is a single-degree-of-freedom rotary joint or a two-degree-of-freedom universal joint or a quaternion joint; And / or, the dimensions of the arm segments and / or arm sections are either heterogeneous or isogeneous; And / or, the two non-adjacent arm segments include two arm segments that are not adjacent within the same arm segment and / or two arm segments that are not adjacent in different arm segments.

7. The spatial flexible robotic arm rope cluster active-passive hybrid drive module according to any one of claims 1-6, characterized in that, Every three adjacent arm segments form a short linkage arm segment. The three adjacent arm segments are the first arm segment, the second arm segment, and the third arm segment. The first arm segment and the second arm segment are connected by a first cross shaft, and the second arm segment and the third arm segment are connected by a second cross shaft. Both the first cross shaft and the second cross shaft have joint supports (4041). The adjacent axis short linkage module (4000) includes: The first drive rope semi-slide rail (4003) and the second drive rope semi-slide rail (4014) are respectively vertically arranged on the joint bracket of the first cross shaft. The outer side walls of the first drive rope semi-slide rail (4003) and the second drive rope semi-slide rail (4014) are provided with slide rails. The third drive rope semi-slide rail (4015) and the fourth drive rope semi-slide rail (4016) are respectively vertically arranged on the joint bracket of the second cross shaft. The outer side wall of the third drive rope semi-slide rail (4015) and the fourth drive rope semi-slide rail (4016) are provided with slide rails. The third drive rope semi-slide rail (4015) is arranged parallel to the first drive rope semi-slide rail (4003), and the fourth drive rope semi-slide rail (4016) is arranged parallel to the second drive rope semi-slide rail (4014). The first short linkage large loop rope (4013) passes through the slide rail on one side of the first drive rope semi-slide rail (4003) of the first arm section, passes through the second arm section in an "S" shape, enters the slide rail of the third drive rope semi-slide rail (4015) of the third arm section, and exits from the slide rail. It then passes through the second arm section in an "S" shape again, and finally enters the slide rail on the other side of the first drive rope semi-slide rail (4003) of the first arm section and exits from the first arm section. The first short linkage large loop rope (4013) is in the shape of an "8". Two first short linkage loop ropes (4012), one end of the first short linkage loop rope (4012) is wrapped around the first rotating shaft of the first cross shaft, and the other end of the first short linkage loop rope (4012) is wrapped around the first rotating shaft of the second cross shaft. The two first short linkage loop ropes (4012) are symmetrically and oppositely combined to form an "8" shape. The second short linkage large loop rope passes through the slide rail on one side of the second drive rope semi-slide rail (4014) of the first arm section, passes through the second arm section in an "S" shape, enters the slide rail of the fourth drive rope semi-slide rail (4016) of the third arm section, and exits from the slide rail. It then passes through the second arm section again in an "S" shape, and finally enters the slide rail on the other side of the second drive rope semi-slide rail (4014) of the first arm section and exits from the first arm section. The second short linkage large loop rope is in the shape of an "8". Two second short linkage loop ropes, one end of which is wrapped around the second pivot of the first cross shaft, and the other end of which is wrapped around the second pivot of the second cross shaft. The two second short linkage loop ropes are symmetrically and oppositely combined to form an "8" shape.

8. The spatial flexible robotic arm rope cluster active-passive hybrid drive module according to claim 7, characterized in that, Both ends of the first short linkage large loop rope (4013), the first short linkage small loop rope (4012), the second short linkage large loop rope and the second short linkage small loop rope are inserted through the through hole of the hollow screw (4001) and limited by the welded ball head, which is located outside the hollow screw (4001); And / or, the outer portions of the first short linkage loop rope (4013) and the second short linkage loop rope are fitted with short linkage rope sleeves (4007). And / or, the second arm segment is provided with a plurality of short drive rope guide blocks (4006), 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).

9. The spatial flexible robotic arm rope cluster active-passive hybrid drive module according to claim 8, characterized in that, The hollow screw (4001) is threaded onto the boom section. The position of the hollow screw (4001) can be adjusted so that the tension of both ends of the first short linkage large loop rope (4013), the first short linkage small loop rope (4012), the second short linkage large loop rope, or the second short linkage small loop rope can be adjusted by the hollow screw (4001).

10. A method for hybrid active and passive drive of a rope cluster for a spatial flexible robotic arm, the method being based on the hybrid active and passive drive module for a rope cluster of a spatial flexible robotic arm according to any one of claims 1-9, characterized in that... Includes the following steps: The flexible robotic arm is divided into multiple arm segments, and adjacent arm segments are connected by kinematic pairs. Multiple drive ropes are connected to any joint of the flexible robotic arm, and the movement of the drive ropes is controlled by the rope drive mechanism and used as the active driving force of the flexible robotic arm. The unidirectional motion axes of each segment within the flexible robotic arm are coupled together via a linkage rope. When at least one segment of the flexible robotic arm moves under the drive of an active driving force, the moving segment drives the remaining segments to move synchronously via the linkage rope.

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