Rope-driven flexible robot joint and manipulator with variable stiffness and robot

Abstract

The present invention discloses a flexible robot joint and a mechanical arm with variable stiffness, and a robot, comprising a terminal motion platform (1), a flexible control support body, a joint driving mechanism, a variable stiffness driving steering engine (10) and a fixed base (3); the flexible control support body connects the fixed base (3) and the terminal motion platform (1); its flexible support sleeve assembly (6) is nested outside the movable support ring shaft assembly (9), and the variable stiffness driving steering engine (10) is installed at the center of the fixed base (3), connecting and driving the flexible support sleeve assembly (6) and the movable support shaft assembly (9) to rotate relative to change the stiffness of the flexible control support body; the joint driving mechanism drives the flexible control support body to bend by pulling the terminal motion platform (1) through a rope, thereby realizing the joint robot movement. It has a bending motion capability with two degrees of freedom, realizes active stiffness control by reconstructing the internal structure, and realizes the control of joint stiffness without changing the external environmental conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical structures, in particular to the field of flexible robots, and specifically to a rope-pulled flexible robot joint with variable stiffness, and a mechanical arm and a robot using the joint. Background Art

[0002] A rope-pulled flexible robot is a robot whose end effector is driven by multiple ropes. It can adapt to different working environments and task requirements. Its joints are flexible, which can make it more flexible during operation and reduce the need for precise data. It can better adapt to various unstructured environments and will not suffer major damage after being impacted by the outside world. It can complete complex tasks, especially in small and unstructured environments. As the application scenarios of flexible robots in actual production and life become increasingly diverse, giving them variable stiffness characteristics can further improve their flexibility and safety, thereby showing greater application potential in complex environments.

[0003] There are various principles for changing the stiffness of flexible robots. Among them, changing external conditions such as light, heat, electricity, magnetism, and air pressure, and adjusting the structural characteristics or material properties of the robot to achieve changes in stiffness is one of the most common and widely used methods. Although this type of method has a large range of stiffness changes and a small body size, it has a slow response speed and cannot meet the requirements of real-time control. Moreover, changes in external environmental conditions require reliance on specific equipment, such as pneumatic equipment involving gas. The disadvantages of a bulky air source device and high requirements for overall airtightness within the robot are particularly significant.

[0004] Therefore, how to actively control the joint stiffness of flexible robots without changing external environmental conditions and respond quickly to meet real-time control requirements is a problem that needs to be solved urgently.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] The purpose of the present invention is to provide a rope-driven flexible robot joint and a mechanical arm with variable stiffness, as well as a robot, which has two degrees of freedom of bending motion capability, realizes active stiffness regulation by reconstructing the internal structure, and realizes the regulation of joint stiffness without changing the external environmental conditions.

[0007] The objective of the present invention is achieved through the following technical solutions:

[0008] A variable stiffness rope-pulled flexible robot joint comprises an end motion platform 1, a flexible control support body, a joint drive mechanism, a variable stiffness drive steering engine 10 and a fixed base 3;

[0009] The lower end of the flexible control support body is connected to the fixed base 3, and the upper end is connected to the terminal motion platform 1; the flexible control support body includes a flexible support sleeve assembly 6 and a movable support shaft assembly 9; the flexible support sleeve assembly 6 is nested outside the movable support ring shaft assembly 9 and connected to form a flexible control support body, and the variable stiffness driving steering engine 10 is installed at the center of the fixed base 3, connecting and driving the flexible support sleeve assembly 6 and the movable support shaft assembly 9 to rotate relative to change the stiffness of the flexible control support body;

[0010] The joint driving mechanism is installed on the fixed base 3, and pulls the terminal motion platform 1 through the rope to drive the flexible control support body to bend, thereby realizing the movement of the joint robot.

[0011] Preferably, the flexible support sleeve assembly 6 is a sleeve structure, and at least one sleeve support ring is provided in the inner hole of the sleeve; the sleeve support ring includes more than three fan-shaped sleeve support columns 61 uniformly distributed in the circumferential direction;

[0012] The movable support ring shaft assembly 9 includes a movable flange 91 and a core column 92. The lower end of the core column 92 is fixed to the center of the movable flange 91. The circumference of the core column 92 is provided with at least one layer of core column support ring on the movable flange 91; the core column support ring includes more than three fan-shaped core column support columns 93 uniformly distributed in the circumferential direction; the upper end of the core column 92 extends into the center hole formed by the inner arc surface of the sleeve support column 61; the sleeve support column 61 and the core column support column 93 are spaced apart and the end faces contact each other to support the flexible support sleeve assembly 6;

[0013] The lower end of the flexible support sleeve assembly 6 is connected to the fixed base 3, and the upper end is connected to the terminal motion platform 1; the variable stiffness driving servo 10 is connected and drives the movable support ring shaft assembly 9 to rotate relative to the flexible support sleeve assembly 6, adjusts the contact area between the end faces of the sleeve support column 61 and the core column support column 93, and changes the stiffness of the flexible control support body.

[0014] Preferably, the sleeve of the flexible support sleeve assembly 6 includes two layers of sleeve support rings, the sleeve support column 61 of the upper layer is fixed to the inner wall and / or bottom surface of the sleeve; the sleeve support column 61 of the lower layer is fixed to the inner wall of the sleeve;

[0015] The movable support ring shaft assembly 9 and the core column 92 are provided with two layers of core column support rings on their circumferences, the core column support column 93 of the upper layer is fixed to the outer wall of the core column 92; the core column support column 93 of the lower layer is fixed to the outer wall of the core column 92 and / or the end face of the movable flange 91;

[0016] The axial spacing between the two layers of sleeve support columns 61 is the same as the axial height of the core column support column 93 of the upper layer, and the core column support column 93 of the upper layer is arranged between the two layers of sleeve support columns 61;

[0017] The axial spacing between the two layers of core column support columns 93 is the same as the axial height of the sleeve support column 61 of the next layer, and the sleeve support column 61 of the next layer is arranged between the two layers of core column support columns 93;

[0018] The end faces of the sleeve support column 61 and the core column support column 93 which are arranged at intervals contact each other and support the flexible support sleeve assembly 6 .

[0019] Preferably, the cross-sectional dimensions of the fan-shaped gaps between the adjacent sleeve support columns 61 of the next layer are adapted to the cross-sectional dimensions of the core column support columns 93 of the previous layer, and the core column support columns 93 of the previous layer pass through the fan-shaped gaps to between the two layers of sleeve support columns 61 .

[0020] Preferably, the sleeve of the flexible support sleeve assembly 6 includes a sleeve support ring, and the sleeve support column 61 is fixed to the inner wall and / or bottom surface of the sleeve;

[0021] The movable support ring shaft assembly 9 and the core column 92 are provided with a layer of core column support ring around their circumferences, and the core column support column 93 is fixed to the outer wall of the core column 92 and / or the end face of the movable flange 91;

[0022] The end surfaces of the sleeve support column 61 and the core column support column 93 contact each other to support the flexible support sleeve assembly 6 .

[0023] Preferably, the variable stiffness driving servo 10 is connected to the movable flange 91 via a rigid connecting flange 12, and drives the movable supporting ring shaft assembly 9 to rotate.

[0024] Preferably, the joint driving mechanism includes three groups, which are evenly distributed circumferentially and fixed on the fixed base 3. The three ropes 13 controlled by the joint driving mechanism are respectively led out from bottom to top from below the three base rope holes 301 evenly distributed circumferentially on the fixed base 3, and introduced from bottom to top along the circumference of the flexible control support body into the three platform rope holes 101 evenly distributed circumferentially on the terminal motion platform 1, and fixed on the terminal motion platform 1; the bending of the flexible control support body is controlled by pulling the three ropes, and the terminal motion platform 1 moves accordingly.

[0025] Preferably, the joint driving mechanism includes a traction rope-driven servo 4, a drum 8 and a rope 13; the drum 8 is installed on the traction shaft of the traction rope-driven servo 4, one end of the rope 13 is fixedly wound on the drum 8, and the other end is led out from the bottom to the top from below the base rope through hole 301, and led from the bottom to the top along the outer periphery of the flexible control support body through a platform rope through hole 101, and is fixed on the end motion platform 1.

[0026] A rope-driven flexible robotic arm, wherein the joints of the robotic arm adopt the above-mentioned rope-driven flexible robot joints with variable stiffness.

[0027] A rope-driven flexible robot, wherein the joints of the robot's mechanical arms adopt the above-mentioned rope-driven flexible robot joints with variable stiffness.

[0028] Compared with the prior art, the variable stiffness rope-traction flexible robot joints and robotic arms and the robot of the present invention have bending movement capabilities with two degrees of freedom, and realize active stiffness regulation by reconstructing the internal structure without changing the external environmental conditions, thereby realizing the regulation of joint stiffness. At the same time, the structure is compact, easy to use, easy to install, and has good practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0030] Figure 1 A schematic diagram of the three-dimensional structure of a rope-traction flexible robot joint with variable stiffness provided in the first embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the front structural view of a rope-traction flexible robot joint with variable stiffness provided in the first embodiment of the present invention;

[0032] Figure 3 A schematic diagram of a three-dimensional exploded structure of a rope-traction flexible robot joint with variable stiffness provided in the first embodiment of the present invention;

[0033] Figure 4 A schematic diagram of the three-dimensional structure of a flexible control support body of a rope-traction flexible robot joint with variable stiffness provided in the first embodiment of the present invention;

[0034] Figure 5 A schematic structural diagram of a three-dimensional flexible support sleeve assembly of a flexible control support body of a rope-pulled flexible robot joint with variable stiffness provided in the first embodiment of the present invention;

[0035] Figure 6 A schematic diagram of the three-dimensional structure of a movable support ring shaft assembly of a flexible control support body of a rope-pulled flexible robot joint with variable stiffness provided in the first embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the connection structure between the variable stiffness drive servo and the movable support ring shaft assembly of the flexible control support body of the variable stiffness rope-traction flexible robot joint provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0037] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in combination with the specific content of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, which does not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0038] First, the terms that may be used in this article are explained as follows:

[0039] The term “and / or” means that either or both of them can be realized at the same time. For example, X and / or Y means both “X” or “Y” and “X and Y”.

[0040] The terms "include", "comprises", "contains", "has" or other descriptions with similar semantics should be interpreted as non-exclusive inclusion. For example, including certain technical feature elements (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or products, etc.) should be interpreted as including not only certain technical feature elements explicitly listed, but also other technical feature elements known in the art that are not explicitly listed.

[0041] The term "consisting of..." means excluding any technical feature elements not explicitly listed. If this term is used in a claim, it will make the claim closed, so that it does not contain technical feature elements other than the technical feature elements explicitly listed, except for the conventional impurities related to them. If this term only appears in a clause of a claim, it only limits the elements explicitly listed in the clause, and the elements recorded in other clauses are not excluded from the overall claim.

[0042] Unless otherwise specified or limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this article can be understood according to specific circumstances.

[0043] The orientation or position relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the drawings and are only for the convenience and simplification of description, and do not explicitly or implicitly indicate that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation of this document.

[0044] The technical solution provided by the present invention is described in detail below. The contents not described in detail in the embodiments of the present invention belong to the prior art known to professionals in the field. If the specific conditions are not specified in the embodiments of the present invention, the conditions are carried out according to the conventional conditions in the field or the conditions recommended by the manufacturer. If the manufacturer is not specified in the reagents or instruments used in the embodiments of the present invention, they are all conventional products that can be purchased commercially.

[0045] Embodiment 1

[0046] like Figures 1 to 3 As shown, a variable stiffness rope-pulled flexible robot joint includes an end motion platform 1, a flexible control support body, a joint driving mechanism, a variable stiffness driving servo 10 and a fixed base 3; the lower end of the flexible control support body is connected to the fixed base 3, and the upper end is connected to the end motion platform 1; the flexible control support body includes a flexible support sleeve assembly 6 and a movable support shaft assembly 9; the flexible support sleeve assembly 6 is nested outside the movable support ring shaft assembly 9 and connected to form a flexible control support body, and the variable stiffness driving servo 10 is installed at the center of the fixed base 3, connecting and driving the flexible support sleeve assembly 6 and the movable support shaft assembly 9 to rotate relative to change the stiffness of the flexible control support body; the joint driving mechanism is installed on the fixed base 3, and the rope pulls the end motion platform 1 to drive the flexible control support body to bend, thereby realizing the bending action of the joint robot. In this example, the active stiffness control can be realized through the structural design of the flexible control support body inside the joint, without changing the external environmental conditions, and the joint stiffness control is realized.

[0047] In this example, if Figures 4 to 6As shown, the flexible control support body includes a flexible support sleeve assembly 6 and a movable support shaft assembly 9. The flexible support sleeve assembly 6 and the movable support shaft assembly 9 are both made of flexible materials. The flexible materials have good plasticity and deformation properties and can be deformed under the action of external forces. Its main characteristics are softness, lightness, good elasticity and large deformation capacity. Common flexible materials include rubber, plastic, etc. In this example, polyurethane elastomers, silicone, etc. can be used. Polyurethane elastomers, also known as thermoplastic polyurethane elastomers (TPU), are a type of elastomer that can be plasticized by heating and dissolved by solvents. It has excellent comprehensive properties such as high strength, high toughness, wear resistance, and oil resistance. It has good processing performance and is widely used in national defense, medical, food and other industries. It is produced by processing methods such as injection molding, extrusion, and blow molding.

[0048] In this example, the flexible support sleeve assembly 6 is nested outside the movable support ring shaft assembly 9. Specifically, the flexible support sleeve assembly 6 is a sleeve structure, and at least one layer of sleeve support ring is provided in the inner hole of the sleeve; the sleeve support ring includes more than three fan-shaped sleeve support columns 61 that are evenly distributed circumferentially; the movable support ring shaft assembly 9 includes a movable flange 91 and a core column 92, the lower end of the core column 92 is fixed to the center of the movable flange 91, and the circumference of the core column 92 is provided with at least one layer of core column support ring on the movable flange 91; the core column support ring includes more than three fan-shaped core column support columns 93 that are evenly distributed circumferentially; the upper end of the core column 92 extends into the center hole formed by the inner arc surface of the sleeve support column 61; the sleeve support column 61 and the core column support column 93 are spaced apart and the end faces contact each other to support the flexible support sleeve assembly 6. In order to ensure the relative rotation of the flexible support sleeve assembly 6 and the movable support shaft assembly 9, there is a clearance fit between the core column support ring and the inner hole of the sleeve of the flexible support sleeve assembly 6, that is, the core column support ring is equivalent to the "axis", and the sleeve of the flexible support sleeve assembly 6 is equivalent to the "hole". The fit between the "axis" and the "hole" is a clearance fit, and the clearance should not be too large to avoid affecting the overall rigidity.

[0049] In this example, if Figure 5 As shown, the preferred solution is that the sleeve of the flexible support sleeve assembly 6 includes two layers of sleeve support rings, and one layer of sleeve support rings includes four sleeve support columns 61. The sleeve support columns 61 of the upper layer are fixed to the inner wall and / or bottom surface of the sleeve; that is, the sleeve support columns 61 of the upper layer can be fixed only to the inner wall of the sleeve; or only to the bottom surface of the sleeve, where the bottom surface of the sleeve refers to the upper surface of the inner cavity; the preferred way is that the sleeve support columns 61 of the upper layer are fixed to both the inner wall and the bottom surface of the sleeve. The sleeve support columns 61 of the lower layer are fixed to the inner wall of the sleeve. The fixation here is an integrated structure, and the flexible support sleeve assembly 6 adopts a one-time injection molding method of polyurethane elastomer, which is easy to manufacture.

[0050] like Figure 6As shown, the circumference of the core column 92 of the movable support ring shaft assembly 9 is provided with two layers of core column support rings, one layer of core column support ring includes four core column support columns 93, the upper layer of core column support columns 93 are fixed to the outer wall of the core column 92; the lower layer of core column support columns 93 are fixed to the outer wall of the core column 92 and / or the end face of the movable flange 91; that is, the core column support columns 93 of one layer are fixed to the outer wall of the core column 92; and the core column support columns 93 of the lower layer can be fixed only to the outer wall of the core column 92; or only to the end face of the movable flange 91, where the end face of the movable flange 91 refers to the upper end face; the preferred way is that the core column support columns 93 of the lower layer are fixed to the outer wall of the core column 92 and the end face of the movable flange 91 at the same time. The fixation here is an integrated structure, and the movable support ring shaft assembly 9 adopts a one-time injection molding method of polyurethane elastomer, which is easy to manufacture.

[0051] The axial spacing between the two layers of sleeve support columns 61 is the same as the axial height of the core column support column 93 of the upper layer, and the core column support column 93 of the upper layer is arranged between the two layers of sleeve support columns 61; the axial spacing between the two layers of core column support columns 93 is the same as the axial height of the sleeve support column 61 of the lower layer, and the sleeve support column 61 of the lower layer is arranged between the two layers of core column support columns 93; the sleeve support column 61 and the core column support column 93 are arranged at intervals, and the end faces of the sleeve support column 61 and the core column support column 93 arranged at intervals contact each other to support the flexible support sleeve assembly 6.

[0052] At the same time, in this solution, the cross-sectional dimensions of the fan-shaped gaps between the adjacent sleeve support columns 61 of the next layer are adapted to the cross-sectional dimensions of the core support columns 93 of the previous layer, and the core support columns 93 of the previous layer pass through the fan-shaped gaps to the gaps between the two layers of sleeve support columns 61. This arrangement actually ensures that the cross-sectional dimensions of the fan-shaped gaps between the adjacent core support columns 93 of the previous layer are adapted to the cross-sectional dimensions of the sleeve support columns 61 of the next layer, and at the same time, the sleeve support columns 61 of the next layer pass through the fan-shaped gaps to the gaps between the two layers of core support columns 93 of the previous layer. Here, the sleeve support columns 61 of the previous layer can have the same cross-sectional dimensions as the sleeve support columns 61 of the next layer; the core support columns 93 of the next layer can have the same cross-sectional dimensions as the core support columns 93 of the previous layer.

[0053] Here, the adaptation means that the cross-sectional dimensions of the fan-shaped gaps between the sleeve support columns 61 of the next layer are the same as the cross-sectional dimensions of the core column support columns 93 of the previous layer, and the design structure is relatively simple. Specifically in this example, that is, the cross-sectional dimensions of the sleeve support column 61 occupy a fan-shaped area of ​​45 degrees, so its fan-shaped gap is also within the range of 45 degrees; at the same time, the cross-sectional dimensions of the core column support column 93 occupy a fan-shaped area of ​​45 degrees, so its fan-shaped gap is also within the range of 45 degrees. The cross-sectional dimensions of the fan-shaped gaps between the sleeve support columns 61 of the next layer can also be slightly smaller than the cross-sectional dimensions of the core column support columns 93 of the previous layer. The specific dimensions can be designed by technicians in this field by themselves based on the elasticity and compressibility of the material.

[0054] Another, simpler technical solution, the sleeve of the flexible support sleeve assembly 6 includes a sleeve support ring, and the sleeve support column 61 is fixed to the inner wall and / or bottom surface of the sleeve; the movable support ring shaft assembly 9 and the core column 92 are provided with a core column support ring on the circumference, and the core column support column 93 is fixed to the outer wall of the core column 92 and / or the end face of the movable flange 91; the sleeve support column 61 and the end face of the core column support column 93 contact each other to support the flexible support sleeve assembly 6. This technical solution does not necessarily require that the cross-sectional size of the fan-shaped gap between the sleeve support columns 61 is compatible with the cross-sectional size of the core column support column 93. It is feasible that the cross-sectional size of the core column support column 93 is larger than the cross-sectional size of the fan-shaped gap between the sleeve support columns 61. Of course, it is not excluded that the sleeve of the flexible support sleeve assembly 6 includes three or more sleeve support rings; at the same time, the movable support ring shaft assembly 9 and the core column 92 are provided with three or more core column support rings on the circumference; it is just a complex structure, which is also within the protection scope of this patent.

[0055] The lower end of the flexible support sleeve assembly 6 is connected to the fixed base 3. Specifically, the fixed base 3 is a box structure. The flexible support sleeve assembly 6 is fixedly connected to the upper surface of the fixed base 3 through the lower connecting flange 62 at the lower end. Specifically, a pipe 31 is connected above the fixed base 3 and then a base flange 32 is connected. The lower connecting flange 62 is fixedly connected to the base flange 32 through the first bolt group 7. The flexible support sleeve assembly 6 is connected to the terminal motion platform 1 through the upper connecting flange 63 at the upper end. Specifically, the terminal motion platform 1 is a disc structure. The upper connecting flange 63 is fixedly connected to the terminal motion platform 1 through the second bolt group 5.

[0056] like Figure 7As shown, the variable stiffness driving steering gear 10 is connected and drives the movable support ring shaft assembly 9 to rotate relative to the flexible support sleeve assembly 6, adjusts the contact area between the end faces of the sleeve support column 61 and the core column support column 93, and changes the stiffness of the flexible control support body. Specifically, the variable stiffness driving steering gear 10 is connected to the movable flange 91 through the rigid connection flange 12, and drives the movable support ring shaft assembly 9 to rotate. At the same time, the output shaft of the variable stiffness driving steering gear 10 can also be installed with the steering gear output flange 11. The specific output shaft of the variable stiffness driving steering gear 10 and the steering gear output flange 11 adopt a universal connection method. Since the size of the output flange 11 is fixed, adding a rigid connection flange 12 can adapt to the movable support ring shaft assembly 9 of any diameter. The specific connection method is not repeated. The steering gear output flange 11 is installed with the rigid connection flange 12, and then connected to the movable flange 91. The steering gear output flange 11 and the rigid connection flange 12 are connected and fixed by the third bolt group 15. The steering gear-flange direct connection method makes the relative rotation response of the internal structure faster, thereby improving the response speed of the stiffness adjustment.

[0057] When the stiffness of the joint needs to be adjusted, the variable stiffness driving servo 10 is started. The variable stiffness driving servo 10 drives the movable support ring shaft assembly 9 to rotate through the servo output flange 11 and the rigid connection flange 12. It can be unidirectional or bidirectional. At the same time, the flexible support sleeve assembly 6 and the movable support shaft assembly 9 are driven to rotate relative to each other. Then the end surface contact area between the adjacent sleeve support column 61 and the core column support column 93 will change, and the spatial position between the sleeve support column 61 and the core column support column 93 will change, which changes the internal structure of the flexible control support body. The reconstructible internal hollow structure of the flexible control support body brings the flexible robot joint the characteristics of variable stiffness while realizing the axial bending movement of the joint, and also ensures the ability of axial support. When the fan-shaped cross-sections of the sleeve support column 61 and the core support column 93 completely overlap, both of them can play an axial support role as a whole; when the fan-shaped cross-sections of the sleeve support column 61 and the core support column 93 do not completely overlap, the non-overlapping area cannot completely provide axial support, and only the overlapping area is the effective area that actually provides axial support. Therefore, the axial stiffness of the flexible control support body will change with the change of the internal structure. It can be seen that the internal structure of the flexible control support body will change with the relative changes of the flexible support sleeve assembly 6 and the movable support shaft assembly 9, which will also change the bending stiffness of the robot joint and adjust the overall stiffness of the joint.

[0058] In this example, the joint drive mechanism includes three groups, which are evenly distributed and fixed on the fixed base 3. The three ropes 13 controlled by the joint drive mechanism are respectively led from the bottom to the top from the bottom of the three base rope holes 301 evenly distributed on the fixed base 3, and introduced from the bottom to the top along the circumference of the flexible control support body into the three platform rope holes 101 evenly distributed on the terminal motion platform 1, and fixed on the terminal motion platform 1; by pulling the three ropes to control the bending of the flexible control support body, the terminal motion platform 1 is bent omnidirectionally around the center point of the flexible control support body, realizing 2-DOF parallel bending motion. Specifically, the joint drive mechanism includes a traction rope driving servo 4, a drum 8 and a rope 13. The fixed base 3 is a box structure, with three vertical fixed brackets 33 evenly distributed around the circumference, each of which is equipped with a traction rope driving steering gear 4; a drum 8 is installed on the traction shaft of the traction rope driving steering gear 4, which has a groove structure and a rope anchoring hole design, and can anchor the rope 13; one end of the rope 13 is anchored on the drum 8, and then wound on the drum 8, and the other end is led out from the bottom to the top from the bottom of the base rope through hole 301, along the outer periphery of the flexible control support body, and introduced into the platform rope through hole 101 from the bottom to the top, and fixed on the terminal motion platform 1. Here, the rope 13 is fixed to the terminal motion platform 1 through three fixed pressure blocks 14 as anchors.

[0059] In summary, this example realizes the 2-DOF parallel bending motion of the terminal motion platform 1 through three circumferentially evenly distributed joint drive mechanisms, the traction rope drives the servo 4 concentrated in the lower part of the base, and the terminal motion inertia is small; through the split design of the flexible control support body, the separately set variable stiffness driving servo 10 drives the movable support shaft assembly 9 of the flexible control support body to rotate, and forms a relative rotation angle change with the flexible support sleeve assembly 6, which can realize the active control of the stiffness of the terminal motion platform 1 without changing the external environmental conditions. The present invention has a compact structure, is easy to use, easy to install, and has good practicality.

[0060] Embodiment 2

[0061] A rope-pulled flexible robotic arm, wherein the joints of the robotic arm adopt the rope-pulled flexible robot joints with variable stiffness described in the first embodiment.

[0062] Embodiment 3

[0063] A rope-pulled flexible robot, wherein the joints of the robot's mechanical arms adopt the rope-pulled flexible robot joints with variable stiffness described in the first embodiment.

[0064] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or in any form that the information constitutes prior art known to those skilled in the art.

Claims

1. A variable stiffness rope-driven flexible robot joint, characterized in that: It comprises an end motion platform (1), a flexible control support body, a joint drive mechanism, a variable stiffness drive steering engine (10) and a fixed base (3); The lower end of the flexible control support body is connected to the fixed base (3), and the upper end is connected to the terminal motion platform (1); the flexible control support body comprises a flexible support sleeve assembly (6) and a movable support shaft assembly (9); the flexible support sleeve assembly (6) is nested outside the movable support ring shaft assembly (9) and connected to form a flexible control support body; the variable stiffness driving steering engine (10) is installed at the center of the fixed base (3), connected and drives the flexible support sleeve assembly (6) and the movable support shaft assembly (9) to rotate relative to each other to change the stiffness of the flexible control support body; The flexible support sleeve assembly (6) is a sleeve structure, and at least one layer of sleeve support ring is provided in the inner hole of the sleeve; the sleeve support ring comprises more than three fan-shaped sleeve support columns (61) uniformly distributed in the circumferential direction; The lower end of the core column (92) of the movable support ring shaft assembly (9) is fixed to the center of the movable flange (91), and the core column (92) is provided with at least one layer of core column support ring on the movable flange (91) on the circumference; the core column support ring includes more than three fan-shaped core column support columns (93) uniformly distributed in the circumferential direction; the upper end of the core column (92) extends into the center hole formed by the inner arc surface of the sleeve support column (61); the sleeve support column (61) and the core column support column (93) are spaced apart and their end faces contact each other to support the flexible support sleeve assembly (6); The lower end of the flexible support sleeve assembly (6) is connected to the fixed base (3), and the upper end is connected to the terminal motion platform (1); the variable stiffness driving steering engine (10) is connected to and drives the movable support ring shaft assembly (9) to rotate relative to the flexible support sleeve assembly (6), adjusts the contact area between the end faces of the sleeve support column (61) and the core column support column (93), and changes the stiffness of the flexible control support body; The joint drive mechanism is mounted on a fixed base (3), and drives the flexible control support body to bend by pulling the terminal motion platform (1) through a rope, thereby realizing the movement of the joint robot.

2. The variable stiffness rope-driven flexible robot joint according to claim 1, characterized in that: The sleeve of the flexible support sleeve assembly (6) comprises two layers of sleeve support rings, the sleeve support column (61) of the upper layer is fixed to the inner wall of the sleeve and / or the bottom surface of the sleeve; the bottom surface of the sleeve is the upper surface of the inner cavity; the sleeve support column (61) of the lower layer is fixed to the inner wall of the sleeve; The movable support ring shaft assembly (9) and the core column (92) are provided with two layers of core column support rings on their circumferences, the core column support column (93) of the upper layer being fixed to the outer wall of the core column (92); and the core column support column (93) of the lower layer being fixed to the outer wall of the core column (92) and / or the end face of the movable flange (91); The axial spacing between the two layers of sleeve support columns (61) is the same as the axial height of the core column support column (93) of the upper layer, and the core column support column (93) of the upper layer is arranged between the two layers of sleeve support columns (61); The axial spacing between the two layers of core column support columns (93) is the same as the axial height of the sleeve support columns (61) of the next layer, and the sleeve support columns (61) of the next layer are arranged between the two layers of core column support columns (93); The end surfaces of the sleeve support column (61) and the core column support column (93) which are arranged at intervals contact each other to support the flexible support sleeve assembly (6).

3. The variable stiffness rope-driven flexible robot joint according to claim 2, characterized in that: The cross-sectional dimensions of the fan-shaped gaps between adjacent sleeve support columns (61) of the sleeve support columns (61) of the next layer are adapted to the cross-sectional dimensions of the core column support columns (93) of the previous layer, and the core column support columns (93) of the previous layer pass through the fan-shaped gaps to reach between the two layers of sleeve support columns (61).

4. The variable stiffness rope-driven flexible robot joint according to claim 1, characterized in that: The sleeve of the flexible support sleeve assembly (6) comprises a sleeve support ring, and the sleeve support column (61) is fixed to the inner wall of the sleeve and / or the bottom surface of the sleeve; the bottom surface of the sleeve is the upper surface of the inner cavity; The movable support ring shaft assembly (9) and the core column (92) are provided with a layer of core column support ring on their circumferences, and the core column support column (93) is fixed to the outer wall of the core column (92) and / or the end face of the movable flange (91); The end surfaces of the sleeve support column (61) and the core column support column (93) contact each other to support the flexible support sleeve assembly (6).

5. The variable stiffness rope-driven flexible robot joint according to claim 1, characterized in that: The variable stiffness driving steering engine (10) is connected to the movable flange (91) via the rigid connecting flange (12), and drives the movable supporting ring shaft assembly (9) to rotate.

6. The variable stiffness rope-driven flexible robot joint according to any one of claims 1 to 5, characterized in that: The joint drive mechanism comprises three groups, which are evenly distributed circumferentially and fixed on a fixed base (3). The three ropes (13) controlled by the joint drive mechanism are respectively led out from below three base rope holes (301) evenly distributed circumferentially on the fixed base (3) from bottom to top, and introduced from bottom to top along the outer circumference of the flexible control support body into three platform rope holes (101) evenly distributed circumferentially on the terminal motion platform (1), and fixed on the terminal motion platform (1); the flexible control support body is controlled to bend by pulling the three ropes, and the terminal motion platform (1) moves accordingly.

7. The variable stiffness rope-driven flexible robot joint according to claim 6, characterized in that: The joint drive mechanism comprises a traction rope driven steering gear (4), a drum (8) and a rope (13); the drum (8) is installed on the traction shaft of the traction rope driven steering gear (4); one end of the rope (13) is fixedly wound on the drum (8); the other end is led out from below the base rope through hole (301) from bottom to top, along the outer periphery of the flexible control support body, and led from bottom to top through a platform rope through hole (101), and is fixed on the terminal motion platform (1).

8. A rope-pulled flexible robotic arm, characterized in that: The joints of the robotic arm adopt the variable stiffness rope-traction flexible robot joints according to any one of claims 1 to 7.

9. A rope-driven flexible robot, characterized in that: The joints of the robot's mechanical arm adopt the variable stiffness rope-traction flexible robot joints according to any one of claims 1 to 7.

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