An asymmetric centralized rigid-flexible coupling robotic arm

Abstract

The present invention relates to the technical field of manipulators, and specifically discloses an asymmetric centralized rigid-flexible coupling manipulator, comprising a driving assembly, a decoupling mechanism, a shoulder module, a modular rope-driven arm and a wrist joint assembly; the modular rope-driven arm comprises a first rope-driven arm section and a second rope-driven arm section; the wrist joint assembly has a plurality of rotating mechanisms and a spherical wrist joint, the spherical wrist joint has a plurality of parallel branch chains, the driving assembly is connected with a first driving rope, a second driving rope and a plurality of third driving ropes, and the first driving rope, the second driving rope and the plurality of third driving ropes are all configured to transition through a decoupling mechanism; the first driving rope drives the shoulder module to move; the second driving rope drives the first rope-driven arm section to move in conjunction; the plurality of third driving ropes respectively drive the plurality of rotating mechanisms to move in conjunction; the asymmetric centralized rigid-flexible coupling manipulator can realize a modular block design, and can continue to use the drive-transmission scheme in a passive decoupling mechanism of a symmetrical electromechanical separation design.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to an asymmetric centralized rigid-flexible coupling manipulator arm. Background Art

[0002] The current rope-driven robotic arms have the following problems:

[0003] The axial length of the drive assembly of the existing robot arm's symmetrical electromechanical separation mechanism is greater than the length of the passive decoupling mechanism. Since the length of the passive decoupling mechanism is close to the limit size configuration based on the passive decoupling principle, the strict space occupancy requirements in aerospace and other fields can only be met by optimizing the size of the drive assembly. The asymmetric design can ignore the space constraints between the motor winding shafts, so that the drive assembly can be optimized to a great extent. However, the asymmetric centralized (electromechanical separation) design will lead to an asymmetric configuration when the active rope is released, and the existing robot arm drive transmission system configuration derived from the drive assembly cannot be used.

[0004] The active rope of the existing robot arm is driven by the motor and then guided to the corresponding joint, that is, the drive transmission path is: motor-active rope-joint. This drive transmission method is difficult to achieve modular design, and it is necessary to disconnect the transmission path of a single rope to separate the intermediate joints from the joints. Summary of the invention

[0005] In order to solve the above-mentioned technical problems, the present invention provides an asymmetric centralized rigid-flexible coupling mechanical arm.

[0006] To solve the above problems, the present invention adopts the following technical solutions:

[0007] An asymmetric centralized rigid-flexible coupling mechanical arm comprises a drive assembly, a decoupling mechanism, a shoulder module, a modular rope-driven arm rod and a wrist joint assembly.

[0008] The modular rope-driven boom includes at least one first rope-driven boom section and a second rope-driven boom section, and the at least one first rope-driven boom section is rotatably connected to the shoulder module.

[0009] The wrist joint assembly has multiple rotating mechanisms and a ball-type wrist joint, the ball-type wrist joint has multiple parallel branches, and the multiple rotating mechanisms are respectively connected to the multiple branches, so that the composite motion of the multiple rotating mechanisms constitutes the output motion of the ball-type wrist joint.

[0010] The drive assembly is connected with a first drive rope, at least one second drive rope and a plurality of third drive ropes that work independently, and the first drive rope, at least one second drive rope and a plurality of third drive ropes are all configured to transition through the decoupling mechanism.

[0011] The first driving rope is connected to the shoulder module to drive the shoulder module to move.

[0012] The at least one second driving rope is linked to the at least one first rope-driven boom section to drive the at least one first rope-driven boom section to move.

[0013] The second rope-driven boom section has a plurality of rigid relay transmission components, and the second rope-driven boom section is staggered and fixedly connected to the adjacent first rope-driven boom section.

[0014] The plurality of third driving ropes are respectively linked to the plurality of rigid relay transmission components, and the plurality of rigid relay transmission components are linked to the plurality of rotating mechanisms to drive the plurality of rotating mechanisms to move.

[0015] In the asymmetric centralized rigid-flexible coupling robotic arm provided in at least one embodiment of the present disclosure, the rotating mechanism includes a bearing, a gear ring, a first gear, a second gear, a connecting arm, a retaining frame, a first input shaft, a second input shaft and a driven shaft.

[0016] The first gear, the second gear, the first input shaft, the second input shaft and the driven shaft are all rotatably connected to the retaining frame, the gear ring and the first gear are both meshed with the second gear, and the gear ring and the first gear are driven through the second gear.

[0017] The first gear is fixedly connected to the driven shaft.

[0018] The first input shaft, the second input shaft and the driven shaft are all provided with bevel gears, and the first input shaft, the second input shaft and the driven shaft are driven by the bevel gears.

[0019] The first input shaft and the second input shaft are both provided with a first rope groove or a driving rope pulley.

[0020] The gear ring is fixedly connected to the connecting arm, and the outer ring surface of the gear ring is fixedly connected to the inner ring of the bearing.

[0021] The branch chain is fixedly connected to the connecting arm.

[0022] In the asymmetric centralized rigid-flexible coupling robotic arm provided in at least one embodiment of the present disclosure, the wrist joint assembly also has a shell.

[0023] The outer ring of the bearing is fixedly connected to the housing, and the housing is fixedly connected to the second rope-driven boom section.

[0024] The retaining frame is fixedly connected to the housing.

[0025] In the asymmetric centralized rigid-flexible coupling robotic arm provided in at least one embodiment of the present disclosure, a plurality of first connecting rope pulleys and a plurality of second connecting rope pulleys are rotatably provided on the first rope-driven arm segment and the second rope-driven arm segment, respectively.

[0026] A transmission gear is fixedly provided on one side of the first connecting rope pulley and the second connecting rope pulley, and the transmission gear serves as a rigid relay transmission component.

[0027] In the adjacent first rope-driven boom section and the second rope-driven boom section, the first connecting rope wheel and the second connecting rope wheel are driven by the transmission gear.

[0028] The first rope groove or the driving rope wheel is rope-driven with the second connecting rope wheel to drive the first input shaft and the second input shaft to rotate.

[0029] In the asymmetric centralized rigid-flexible coupling robot arm provided in at least one embodiment of the present disclosure, the decoupling mechanism includes a frame, a plurality of fixed pulley groups and a plurality of transition pulley groups, and the frame and the fixed pulley groups are rotatably connected.

[0030] The transition pulley block is located between the driving assembly and the fixed pulley block, and the transition pulley block is rotatably connected to the frame.

[0031] The first drive rope, the second drive rope and the third drive rope are all configured to transition through the transition pulley block and the fixed pulley block in sequence.

[0032] In the asymmetric centralized rigid-flexible coupling robotic arm provided in at least one embodiment of the present disclosure, both ends of the shoulder module have a rotating shaft, the rotating shaft is rotatably connected to the frame, and the shoulder module is fixedly connected to the rotating shaft.

[0033] The rotating shaft is provided with a second rope groove, and the end of the first driving rope is fixed in the second rope groove.

[0034] In the asymmetric centralized rigid-flexible coupling robotic arm provided by at least one embodiment of the present disclosure, the first rope-driven arm section further has a rope winding wheel, and the rope winding wheel is rotatably disposed on the first rope-driven arm section.

[0035] The rope winding wheel and the first connecting rope wheel are respectively located at two ends of the first rope-driven boom section.

[0036] In the asymmetric centralized rigid-flexible coupling robotic arm provided in at least one embodiment of the present disclosure, the spherical wrist joint is a three-degree-of-freedom spherical wrist joint, and the three-degree-of-freedom spherical wrist joint includes a moving platform and three parallel branches.

[0037] The number of the slewing mechanism and the number of the third driving ropes are three.

[0038] One end of the branch chain is rotatably connected to the moving platform, and the other end of the branch chain is fixedly connected to the connecting arm.

[0039] In the asymmetric centralized rigid-flexible coupling robotic arm provided in at least one embodiment of the present disclosure, three first rope-driven arm segments are configured, and two second driving ropes are provided.

[0040] The three first rope-driven boom sections are arranged in sequence.

[0041] One end of the first rope-driven arm segment located in the middle is fixedly connected to another first rope-driven arm segment, and the first connecting rope wheels of the two are driven by the transmission gear.

[0042] The other end of the first rope-driven arm located in the middle is rotationally connected to the remaining first rope-driven arm sections, and the first connecting rope wheels of the two are driven by ropes.

[0043] In the asymmetric centralized rigid-flexible coupling robotic arm provided in at least one embodiment of the present disclosure, the driving assembly includes six servo motors, and the servo motors are fixedly connected to the frame.

[0044] The six servo motors are equally divided into two groups, and the two groups of servo motors are respectively located at the front and back of the frame.

[0045] The beneficial effects of the present invention are as follows: during transmission, the flexible rope is used together with the rigid gear, forming a rigid-flexible coupling structure, which has the characteristics of small vibration, reliable transmission, self-compliance, etc.

[0046] The motor of the drive mechanism adopts a centralized layout, and the motor power is transmitted to the end of the robotic arm through transmission components such as ropes and gears, thus realizing an electromechanical separation design and simple maintenance.

[0047] Gear transmission is added to the rope drive route, and the route where the rope is connected to the end is divided into multiple sections, thus achieving a modular design.

[0048] The problem of large space occupation of the symmetrical electromechanical separation rope-driven robot arm drive mechanism is solved, and the problem of the asymmetrical centralized design cannot continue to use the drive transmission solution in the passive decoupling mechanism of the symmetrical electromechanical separation design is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0050] Figure 1Schematic diagram of the structure of the asymmetric centralized rigid-flexible coupling robotic arm in Example 1.

[0051] Figure 2 It is a schematic diagram of the connection between the second rope-driven boom section and the wrist joint assembly.

[0052] Figure 3 Schematic diagram of the rope winding of the shoulder module and the first drive rope.

[0053] Figure 4 It is a schematic diagram of the connection between the rotating shaft and the first driving rope.

[0054] Figure 5 It is a schematic diagram of the rope winding of the first rope-driven boom section and the second driving rope.

[0055] Figure 6 It is a schematic diagram of the rope winding of the first rope-driven boom section and the third driving rope.

[0056] Figure 7 It is a schematic diagram of the local structure of the rotary mechanism.

[0057] Figure 8 Schematic diagram of the distribution of two adjacent rotary mechanisms.

[0058] Fig. 9 It is a schematic diagram of the assembly of three slewing mechanisms and the second rope-driven boom section.

[0059] Fig.10 It is a schematic diagram of the partial structure of the second input shaft of one of the rotary mechanisms.

[0060] Fig.11 It is a schematic diagram of the arrangement of the relay rope between the second connecting rope pulley and the slewing mechanism.

[0061] Fig.12 It is a stereoscopic view of the first rope-driven boom section.

[0062] Fig.13 A view of the second rope-driven boom section.

[0063] Fig.14 It is a schematic diagram of the connection between the first connecting rope pulley and the transmission gear.

[0064] Fig.15 Schematic diagram of the distribution of the rope pulley.

[0065] Fig.16 Schematic diagram of the distribution of fixed pulley group and transition pulley group.

[0066] Fig.17 This is a schematic diagram of the structure of the asymmetric centralized rigid-flexible coupling robotic arm in Example 2.

[0067] Fig.18This is a schematic diagram of the connection of two first rope-driven boom sections that are rotatably connected in Example 2.

[0068] In the figure:

[0069] 10. Drive assembly; 11. First drive rope; 12. Second drive rope; 13. Third drive rope;

[0070] 20. decoupling mechanism; 21. frame; 22. fixed pulley block; 23. transition pulley block;

[0071] 30. Shoulder module; 31. Rotating shaft;

[0072] 40. Modular rope-driven boom; 41. First rope-driven boom section; 42. Second rope-driven boom section; 43. Transmission gear; 411. First connecting rope pulley; 412. Second connecting rope pulley; 413. Rope winding pulley;

[0073] 50. wrist joint assembly; 51. slewing mechanism; 52. ball wrist joint; 53. bevel gear; 54. first rope groove; 55. driving rope pulley; 56. housing; 521. branch chain; 511. bearing; 512. gear ring; 513. first gear; 514. second gear; 515. connecting arm; 516. retaining frame; 517. first input shaft; 518. second input shaft; 519. driven shaft; 522. moving platform;

[0074] 60. Relay rope. DETAILED DESCRIPTION

[0075] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0076] The rope of the current rope-driven manipulator is driven by a motor and then guided to the corresponding joint, that is, the drive transmission path is: motor-rope-joint. This drive transmission method is difficult to achieve modular design, and it is necessary to disconnect the transmission path of a single rope to achieve the separation of the intermediate joint and the joint. Therefore, an asymmetric centralized rigid-flexible coupling manipulator that can achieve a modular structure is designed in the embodiment.

[0077] The drive transmission path of the asymmetric centralized rigid-flexible coupling manipulator in the embodiment is: servo motor-driving rope-transmission gear-transmission gear-relay rope-transmission gear-transmission gear-relay rope-wrist joint assembly. Among them, "servo motor-driving rope-transmission gear" is the first part, "transmission gear-relay rope-transmission gear" is the second part, the second part is the two first rope-driven arm sections in the modular rope-driven arm rod; "transmission gear-relay rope-wrist joint assembly" is the third part. In the embodiment, the second part can be removed to realize the direct connection between the first part and the third part, realize the modular rope-driven manipulator design, and form a variety of implementation methods.

[0078] In the embodiment, an asymmetric driving mechanism is designed according to the constraint conditions, which can significantly reduce the space occupied by the driving mechanism and facilitate the integration of the robot arm into other platforms;

[0079] In the embodiment, an asymmetric drive transmission system is designed based on the decoupling mechanism principle, mechanism size constraints, parts design method and other factors, which can meet the three-degree-of-freedom spherical wrist joint with high symmetry requirements and can adapt to the center of mass offset of the modular asymmetric arm;

[0080] In the embodiment, a rigid-flexibly coupled modular rope-driven arm is designed to improve the modular design of the rope-driven manipulator and increase the reconstruction performance of the manipulator; a highly symmetrical three-degree-of-freedom spherical wrist joint is designed to ensure that the tension of a single rope is in the same plane, thereby improving the movement performance of the wrist.

[0081] Example 1

[0082] like Figure 1 , 2 As shown in Figures , 3, 5 and 6, this embodiment provides an asymmetric centralized rigid-flexible coupling robotic arm, including a drive assembly 10, a decoupling mechanism 20, a shoulder module 30, a modular rope-driven arm 40 and a wrist joint assembly 50.

[0083] Specifically, the modular rope-driven arm 40 includes a first rope-driven arm segment 41 and a second rope-driven arm segment 42 , and the first rope-driven arm segment 41 is rotatably connected to the shoulder module 30 .

[0084] Specifically, the wrist joint assembly 50 has a swivel mechanism 51 and a ball-type wrist joint 52 . The ball-type wrist joint 52 has parallel branches 521 . The swivel mechanism 51 is connected to the branches 521 , respectively, so that the composite motion of the swivel mechanism 51 constitutes the output motion of the ball-type wrist joint 52 .

[0085] Specifically, the drive assembly 10 is connected with a first drive rope 11 , a second drive rope 12 and three third drive ropes 13 that work independently, and the first drive rope 11 , the second drive rope 12 and the third drive rope 13 are all configured to transition through the decoupling mechanism 20 .

[0086] Specifically, the first driving rope 11 is connected to the shoulder module 30 , so as to drive the shoulder module 30 to move.

[0087] Specifically, the second driving rope 12 is linked with the first rope-driven boom section 41 , thereby driving the first rope-driven boom section 41 to move.

[0088] Specifically, the first rope-driven boom section 41 and the second rope-driven boom section 42 both have a rigid relay transmission component, and the second rope-driven boom section 42 is staggered and fixedly connected to the adjacent first rope-driven boom section 41 .

[0089] Specifically, the third driving rope 13 is linked to the rigid relay transmission component, and the rigid relay transmission component is linked to the slewing mechanism 51, thereby driving the slewing mechanism 51 to move.

[0090] The structure of the rotary mechanism 51 will be further described below with reference to the accompanying drawings.

[0091] like Figure 2 , 7 As shown in , 8, 9, 10 and 11, the rotating mechanism 51 includes a bearing 511, a gear ring 512, a first gear 513, a second gear 514, a connecting arm 515, a retaining frame 516, a first input shaft 517, a second input shaft 518 and a driven shaft 519.

[0092] Specifically, the first gear 513, the second gear 514, the first input shaft 517, the second input shaft 518 and the driven shaft 519 are all rotatably connected to the retaining frame 516, the gear ring 512 and the first gear 513 are both meshed with the second gear 514, the gear ring 512 and the first gear 513 are transmitted through the second gear 514; the first gear 513 is fixedly connected to the driven shaft 519.

[0093] Specifically, bevel gears 53 are disposed on the first input shaft 517 , the second input shaft 518 and the driven shaft 519 , and the first input shaft 517 , the second input shaft 518 and the driven shaft 519 are driven by the bevel gears 53 .

[0094] Specifically, the first input shaft 517 and the second input shaft 518 of one of the rotating mechanisms 51 are both provided with the first rope groove 54 , and the first input shaft 517 and the second input shaft 518 of the other two rotating mechanisms 51 are both provided with the driving rope pulley 55 .

[0095] Specifically, the gear ring 512 is fixedly connected to the connecting arm 515 , and the outer ring surface of the gear ring 512 is fixedly connected to the inner ring of the bearing 511 .

[0096] Specifically, the branch chain 521 is fixedly connected to the connecting arm 515 .

[0097] Specifically, the wrist joint assembly 50 also has a housing 56 ; the outer ring of the bearing 511 is fixedly connected to the housing 56 , and the housing 56 is fixedly connected to the second rope-driven arm section 42 ; and the retaining frame 516 is fixedly connected to the housing 56 .

[0098] Specifically, the first input shafts 517 of the respective rotary mechanisms are parallel to each other; similarly, the second input shafts 518 of the respective rotary mechanisms are parallel to each other.

[0099] The structures of the first rope-driven boom section 41 and the second rope-driven boom section 42 will be further described below with reference to the accompanying drawings.

[0100] like Figure 1 , 2 As shown in Figures 12, 13, 14 and 15, the first rope-driven arm segment 41 and the second rope-driven arm segment 42 are rotatably provided with a first connecting rope pulley 411 and a second connecting rope pulley 412, respectively.

[0101] Specifically, a transmission gear 43 is fixedly provided on one side of the first connecting rope pulley 411 and the second connecting rope pulley 412, and the transmission gear 43 serves as a rigid relay transmission component.

[0102] Exemplarily, the first connecting rope pulley 411 is rotationally connected to the frame of the first rope-driven arm segment 41 by adopting a connecting shaft, and the second connecting rope pulley 412 is rotationally connected to the frame of the second rope-driven arm segment 42 by means of a connecting shaft; that is, the first connecting rope pulley 411 is coaxial with its corresponding transmission gear, and the second connecting rope pulley 412 is coaxial with its corresponding transmission gear.

[0103] Specifically, in the adjacent first rope-driven boom section 41 and the second rope-driven boom section 42 , the first connecting rope pulley 411 and the second connecting rope pulley 412 are driven by two corresponding transmission gears 43 .

[0104] Specifically, the first rope-driven boom section 41 further has a rope winding wheel 413, which is rotatably disposed on the frame of the first rope-driven boom section 41. The rope winding wheel 413 and the first connecting rope wheel 411 are respectively located at two ends of the first rope-driven boom section 41. The rope winding wheel 413 can facilitate the winding of the third driving rope 13, and the second driving rope 12 can be fixed to the rope winding wheel 413, so that the rope drives the first rope-driven boom section 41 to swing.

[0105] Specifically, the first rope groove and the driving rope pulley 55 are both transmitted to the second connecting rope pulley 412 through different relay ropes 60, thereby realizing the rope-driven rotation of the first input shaft 517 and the second input shaft 518.

[0106] The structure of the decoupling mechanism 20 will be further described below with reference to the accompanying drawings.

[0107] like Fig.16 As shown, the decoupling mechanism 20 includes a frame 21 and a fixed pulley block 22, and the frame 21 and the fixed pulley block 22 are rotatably connected.

[0108] Specifically, a transition pulley block 23 is disposed between the driving assembly 10 and the fixed pulley block 22 , and the transition pulley block 23 is rotatably connected to the frame 21 .

[0109] Specifically, the first drive rope 11 , the second drive rope 12 and the third drive rope 13 are configured to transition through the transition pulley block 23 and the fixed pulley block 22 in sequence.

[0110] Since the driving mechanism is directly connected to the decoupling mechanism, the minimum length of the driving mechanism is constrained to be greater than or equal to the length of the decoupling mechanism. In order to reduce the space occupied by the driving mechanism, a transition pulley block 23 is added between the driving mechanism and the decoupled fixed pulley block 22. Compared with the current decoupling mechanism, the constraint of the decoupling mechanism size on the driving mechanism size is removed. At this time, the minimum length of the driving mechanism is constrained by the minimum transition pulley block 23, and the minimum size of the driving mechanism can be obtained after satisfying the size constraint of the minimum transition pulley block 23.

[0111] The structure of the shoulder module 30 will be further described below with reference to the accompanying drawings.

[0112] like Figure 3 and 4 As shown, both ends of the shoulder module 30 have a shaft 31, the shaft 31 is rotatably connected to the frame 21, and the shoulder module 30 is fixedly connected to the shaft 31. A second rope groove (not shown) is provided on the shaft 31, and the end of the first drive rope 11 is fixed in the second rope groove.

[0113] The shoulder module 30 is also provided with a rope pulley to facilitate the winding of the second drive rope 12 and the third drive rope 13 .

[0114] The structure of the ball wrist joint 52 will be further described below with reference to the accompanying drawings.

[0115] like Figure 2 As shown, the spherical wrist joint 52 is a three-degree-of-freedom spherical wrist joint 52, and the three-degree-of-freedom spherical wrist joint 52 includes a moving platform 522 and three branch chains 521, and the three branch chains 521 are in a parallel relationship.

[0116] Specifically, three slewing mechanisms 51 and three third driving ropes 13 are provided.

[0117] Specifically, one end of the branch chain 521 is rotatably connected to the moving platform 522 , and the other end of the branch chain 521 is fixedly connected to the connecting arm 515 .

[0118] This embodiment removes the symmetrical pulleys and joints generated by the modular design, and no extra pulleys are generated at the ball-type wrist joint 52, simplifying the structure of the rope-driven wrist joint. In addition, all forces on each rope of the wrist joint are in the same plane, which greatly ensures the symmetry requirements of the wrist joint and improves the accuracy of the wrist joint.

[0119] The structure of the drive assembly 10 will be further described below with reference to the accompanying drawings.

[0120] like Figure 3 , 5 As shown in FIG. 6 , the drive assembly 10 includes five servo motors. The first drive rope 11 , the second drive rope 12 and the three third drive ropes 13 correspond to the five servo motors one by one, respectively, so as to independently drive the first drive rope 11 , the second drive rope 12 and the third drive rope 13 .

[0121] Example 2

[0122] like Fig.17 and 18 As shown, this embodiment provides an asymmetric centralized rigid-flexible coupling robot arm, which is different from Embodiment 1 in that three first rope-driven arm segments 41 are configured, two second driving ropes 12 are provided, and the driving assembly 10 includes six servo motors.

[0123] The first driving rope 11 , the two second driving ropes 12 and the three third driving ropes 13 correspond to the six servo motors respectively, so as to independently drive the first driving rope 11 , the second driving rope 12 and the third driving rope 13 .

[0124] The three first rope-driven boom sections 41 are arranged in sequence.

[0125] Specifically, one end of the first rope-driven arm segment 41 located in the middle is fixedly connected to another first rope-driven arm segment 41 , and the first connecting rope wheels 411 of the two are driven by the transmission gear 43 .

[0126] Specifically, the other end of the first rope-driven arm located in the middle is rotationally connected to the remaining first rope-driven arm segment 41 , and the first connecting rope wheels 411 of the two are transmitted through the relay rope 60 .

[0127] Since independent ropes and transmission gears are used between each arm segment to achieve relay drive, the two second drive ropes 12 and the three third drive ropes 13 are only connected to the first rope-driven arm segment 41 adjacent to the shoulder module 30. When the other two first rope-driven arm segments 41 are disassembled and assembled, the two second drive ropes 12 and the three third drive ropes 13 are not involved, so the three first rope-driven arm segments 41 are easy to disassemble and assemble.

[0128] The six servo motors are equally divided into two groups, and the two groups of servo motors are respectively located at the front and back of the frame 21.

[0129] Although the embodiments of the present application have been shown and described above, the scope of protection of the present invention is not limited thereto, and any changes or substitutions that are not conceivable through creative work should be included in the scope of protection of the present invention; unless explicitly stated, any elements, actions or instructions used in this document should not be interpreted as critical or necessary.

Claims

1. An asymmetric centralized rigid-flexible coupling manipulator, characterized in that: include: Drive assembly, decoupling mechanism, shoulder module, modular rope-driven boom and wrist assembly; The modular rope-driven arm comprises at least one first rope-driven arm section and a second rope-driven arm section, wherein the at least one first rope-driven arm section is rotatably connected to the shoulder module; The wrist joint assembly has a plurality of rotary mechanisms and a ball-type wrist joint, the ball-type wrist joint has a plurality of parallel branches, and the plurality of rotary mechanisms are respectively connected to the plurality of branches, so that the composite motion of the plurality of rotary mechanisms constitutes the output motion of the ball-type wrist joint; The drive assembly is connected with a first drive rope, at least one second drive rope and a plurality of third drive ropes that work independently, and the first drive rope, at least one second drive rope and a plurality of third drive ropes are all configured to transition through the decoupling mechanism; The first driving rope is connected to the shoulder module to drive the shoulder module to move; The at least one second driving rope is linked to the at least one first rope-driven boom section to drive the at least one first rope-driven boom section to move; The second rope-driven boom section has a plurality of rigid relay transmission components, and the second rope-driven boom section is staggered and fixedly connected to the adjacent first rope-driven boom section; The plurality of third driving ropes are respectively linked to the plurality of rigid relay transmission components, and the plurality of rigid relay transmission components are linked to the plurality of rotating mechanisms to drive the plurality of rotating mechanisms to move; The rotary mechanism comprises: A bearing, a gear ring, a first gear, a second gear, a connecting arm, a retainer, a first input shaft, a second input shaft and a driven shaft; The first gear, the second gear, the first input shaft, the second input shaft and the driven shaft are all rotatably connected to the retainer, the gear ring and the first gear are both meshed with the second gear, and the gear ring and the first gear are driven by the second gear; The first gear is fixedly connected to the driven shaft; The first input shaft, the second input shaft and the driven shaft are all provided with bevel gears, and the first input shaft, the second input shaft and the driven shaft are driven by the bevel gears; The first input shaft and the second input shaft are both provided with a first rope groove or a driving rope pulley; The gear ring is fixedly connected to the connecting arm, and the outer ring surface of the gear ring is fixedly connected to the inner ring of the bearing; The branch chain is fixedly connected to the connecting arm; The first rope-driven arm section and the second rope-driven arm section are rotatably provided with a plurality of first connecting rope wheels and a plurality of second connecting rope wheels respectively; A transmission gear is fixedly provided on one side of the first connecting rope pulley and the second connecting rope pulley, and the transmission gear serves as a rigid relay transmission component; In the adjacent first rope-driven boom section and the second rope-driven boom section, the first connecting rope wheel and the second connecting rope wheel are driven by the transmission gear; The first rope groove or the driving rope wheel is rope-driven with the second connecting rope wheel to drive the first input shaft and the second input shaft to rotate.

2. The asymmetric centralized rigid-flexible coupling mechanical arm according to claim 1, characterized in that: The wrist joint assembly also has a shell; The outer ring of the bearing is fixedly connected to the housing, and the housing is fixedly connected to the second rope-driven boom section; The retaining frame is fixedly connected to the housing.

3. The asymmetric centralized rigid-flexible coupling mechanical arm according to claim 2, characterized in that: The decoupling mechanism comprises a frame, a plurality of fixed pulley blocks and a plurality of transition pulley blocks, and the frame and the fixed pulley blocks are rotatably connected; The transition pulley block is located between the driving assembly and the fixed pulley block, and the transition pulley block is rotatably connected to the frame; The first drive rope, the second drive rope and the third drive rope are all configured to transition through the transition pulley block and the fixed pulley block in sequence.

4. The asymmetric centralized rigid-flexible coupling mechanical arm according to claim 3, characterized in that: Both ends of the shoulder module have a rotating shaft, the rotating shaft is rotatably connected to the frame, and the shoulder module is fixedly connected to the rotating shaft; The rotating shaft is provided with a second rope groove, and the end of the first driving rope is fixed in the second rope groove.

5. The asymmetric centralized rigid-flexible coupling mechanical arm according to claim 4, characterized in that: The first rope-driven boom section also has a rope winding wheel, and the rope winding wheel is rotatably arranged on the first rope-driven boom section; The rope winding wheel and the first connecting rope wheel are respectively located at two ends of the first rope-driven boom section.

6. An asymmetric centralized rigid-flexible coupling mechanical arm according to claim 1 or 2, characterized in that: The spherical wrist joint is a three-degree-of-freedom spherical wrist joint, and the three-degree-of-freedom spherical wrist joint includes a moving platform and three parallel branch chains; The slewing mechanism and the third driving rope are each provided with three; One end of the branch chain is rotatably connected to the moving platform, and the other end of the branch chain is fixedly connected to the connecting arm.

7. The asymmetric centralized rigid-flexible coupling mechanical arm according to claim 1, characterized in that: The first rope-driven boom sections are configured with three, and the second driving ropes are provided with two; The three first rope-driven boom sections are arranged in sequence; One end of the first rope-driven boom section located in the middle is fixedly connected to another first rope-driven boom section, and the first connecting rope wheels of the two are driven by the transmission gear; The other end of the first rope-driven arm located in the middle is rotationally connected to the remaining first rope-driven arm sections, and the first connecting rope wheels of the two are driven by ropes.

8. The asymmetric centralized rigid-flexible coupling mechanical arm according to claim 3, characterized in that: The drive assembly includes six servo motors, and the servo motors are fixedly connected to the frame; The six servo motors are equally divided into two groups, and the two groups of servo motors are respectively located at the front and back of the frame.

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