7-DOF rope-driven manipulator and robotic equipment for space

Abstract

This invention discloses a space-oriented 7-DOF rope-driven robotic arm and mechanical device. The space-oriented 7-DOF rope-driven robotic arm includes: a large arm housing and a small arm housing; the large arm housing and the small arm housing are connected by an elbow assembly, which includes a pulley structure; a wrist assembly is connected to the end of the small arm housing opposite to the elbow assembly; a winding transmission assembly is connected to the large arm housing, which includes a first winding structure and a second winding structure; a first transmission rope is wound around and connected to the pulley structure to drive the small arm housing to move relative to the large arm housing; a second transmission rope is wound around the pulley structure and connected to the wrist assembly to drive the wrist assembly to move relative to the small arm housing. The space-oriented 7-DOF rope-driven robotic arm of this invention can flexibly complete various tasks in complex spatial environments, achieves electromechanical separation, and features low weight and light inertia, high sensitivity, high speed, and high reliability. It has a simple structure, is easy to maintain and repair, and reduces maintenance costs.

Description

Technical Field

[0001] This invention relates to the field of mechanical technology, and more particularly to a space-oriented 7-DOF rope-driven robotic arm and a mechanical device having the space-oriented 7-DOF rope-driven robotic arm. Background Technology

[0002] Currently, the space robots used for on-orbit services are mainly rigid arms. This is primarily because rigid arms have a large load-bearing capacity at their end caps, making it easier to capture target satellites.

[0003] Traditional articulated rigid arms typically employ a direct drive method based on joints. This means that the drive motor and actuator must be placed at each joint of the robotic arm. While this provides high rigidity, large operating force, and high control precision, the concentrated installation of the actuator and drive motor at the joints increases the weight and inertia of the robotic arm, limiting its flexibility and operational efficiency. Furthermore, during mission execution, the robotic arm is exposed to the outside environment, significantly increasing the probability that electrical components will be affected by harsh conditions. This not only increases the difficulty of maintaining electrical components but also reduces their lifespan, indicating room for improvement. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a space-oriented 7-DOF cable-driven robotic arm. This space-oriented 7-DOF cable-driven robotic arm can precisely control the movement of the forearm housing relative to the upper arm housing and the movement of the wrist assembly relative to the forearm housing. This allows the space-oriented 7-DOF cable-driven robotic arm to flexibly complete various tasks in complex spatial environments, and achieves electromechanical separation. It features low weight and inertia, high sensitivity, high speed, and high reliability. Its simple structure facilitates maintenance and repair, reducing maintenance costs.

[0005] According to an embodiment of the present invention, a space-oriented 7-DOF cable-driven robotic arm includes: a large arm housing and a small arm housing; an elbow assembly, wherein the large arm housing and the small arm housing are connected by the elbow assembly, the elbow assembly includes a pulley structure, and a wrist assembly is connected to one end of the small arm housing opposite to the elbow assembly; wherein the large arm housing is connected to a winding drive assembly, the winding drive assembly includes a first winding structure and a second winding structure, the first winding structure includes a first winding motor and a first drive rope connected together, the first drive rope being wound around and connected to the pulley structure to drive the small arm housing to move relative to the large arm housing, and the second winding structure includes a second winding motor and a second drive rope connected together, the second drive rope being wound around the pulley structure and connected to the wrist assembly to drive the wrist assembly to move relative to the small arm housing.

[0006] According to an embodiment of the present invention, the space-oriented 7-DOF rope-driven robotic arm, by setting a pulley structure in the elbow assembly and connecting the upper arm housing to a winding transmission assembly including a first winding structure and a second winding structure, enables the space-oriented 7-DOF rope-driven robotic arm to precisely control the movement of the forearm housing relative to the upper arm housing and the movement of the wrist assembly relative to the forearm housing under the action of the first winding structure and the second winding structure. This allows the space-oriented 7-DOF rope-driven robotic arm to flexibly complete various tasks in complex spatial environments, and achieves electromechanical separation. It features low weight and light inertia, high sensitivity, high speed and high reliability. The structure is simple, easy to maintain and repair, and reduces maintenance costs. At the same time, it has the characteristics of high rigidity, large operating force and high control precision of traditional rigid arms.

[0007] According to some embodiments of the present invention, a space-oriented 7-DOF cable-driven robotic arm includes a pulley structure comprising a first auxiliary pulley, a first main pulley, a second main pulley, and a second auxiliary pulley. The first auxiliary pulley and the first main pulley are both mounted on the upper arm housing, and the second main pulley and the second auxiliary pulley are both mounted on the lower arm housing. A first drive rope is sequentially wound around the first auxiliary pulley and the first main pulley before being connected to the second main pulley. A second drive rope is sequentially wound around the first auxiliary pulley, the first main pulley, the second main pulley, and the first auxiliary pulley before being connected to the wrist assembly.

[0008] According to some embodiments of the present invention, a space-oriented 7-DOF rope-driven robotic arm has two first drive ropes, both connected to a first winding motor. The first winding motor is adapted to wind up one first drive rope when rotating in the forward direction and to wind up the other first drive rope when rotating in the reverse direction. One first drive rope is adapted to be sequentially wound around a first side of a first auxiliary pulley, a second side of a first main pulley, and a second side of a second main pulley before being connected to a first side of the second main pulley. The other first drive rope is adapted to be sequentially wound around a second side of the first auxiliary pulley, a first side of the first main pulley, and a first side of the second main pulley before being connected to a second side of the second main pulley.

[0009] According to some embodiments of the present invention, a space-oriented 7-DOF rope-driven robotic arm has two second drive ropes, both connected to a second winding motor. The second winding motor is adapted to wind up one second drive rope when rotating in the forward direction and to wind up the other second drive rope when rotating in the reverse direction. One second drive rope is adapted to be sequentially wound around a first side of a first auxiliary pulley, a second side of a first main pulley and a first side of a second main pulley, and a second side of a second auxiliary pulley before being connected to the wrist assembly. The other first drive rope is adapted to be sequentially wound around a second side of a first auxiliary pulley, a first side of a first main pulley and a second side of a second main pulley, and a first side of a second auxiliary pulley before being connected to the wrist assembly.

[0010] According to some embodiments of the present invention, in a space-oriented 7-DOF cable-driven robotic arm, both the first main pulley and the second main pulley include a bearing component and a pulley component. The outer peripheral wall of the pulley component is formed with a winding groove. The bearing component is installed inside the pulley component and is used to pass through and install a rotating shaft.

[0011] According to some embodiments of the present invention, a space-oriented 7-DOF cable-driven robotic arm includes a wrist assembly comprising a wrist housing, a rotary pulley system, a wrist retractor, and a wrist rotating end plate. The wrist retractor is rotatably mounted on the wrist housing via the rotary pulley system. The wrist rotating end plate is connected to the wrist retractor via a universal joint assembly, and two movable links are also connected between the wrist rotating end plate and the wrist retractor. The second winding structure consists of three sets: one set of second transmission ropes is connected to the rotary pulley system to drive the wrist retractor to rotate relative to the wrist housing; another set of second transmission ropes is connected to one of the movable links to drive the wrist rotating end plate to perform pitch motion relative to the wrist retractor; and the third set of second transmission ropes is connected to another movable link to drive the wrist rotating end plate to perform yaw motion relative to the wrist retractor.

[0012] According to some embodiments of the present invention, a space-oriented 7-DOF rope-driven robotic arm includes a winding drive assembly comprising a frame structure with a mounting cavity formed therein, wherein the first winding motor and the second winding motor are both mounted in the mounting cavity.

[0013] According to some embodiments of the present invention, in a space-oriented 7-DOF rope-driven robotic arm, the winding drive assembly is connected to the end of the upper arm housing away from the elbow assembly. The upper arm housing is provided with a first threading cavity, and the lower arm housing is provided with a second threading cavity. The first drive rope passes through the first threading cavity, and the second drive rope passes through the first threading cavity and the second threading cavity in sequence.

[0014] According to some embodiments of the present invention, in a space-oriented 7-DOF rope-driven robotic arm, the wound drive assembly is connected to a shoulder assembly at an end away from the upper arm housing; and / or, the wrist assembly is connected to a gripper assembly and a camera assembly at an end away from the forearm housing, the gripper assembly being adapted to be driven by a gripper motor assembly.

[0015] The present invention also proposes a mechanical device.

[0016] According to embodiments of the present invention, a mechanical device is provided with a space-oriented 7-DOF rope-driven robotic arm according to any of the above embodiments.

[0017] The mechanical equipment described above and the aforementioned space-oriented 7-DOF rope-driven robotic arm have the same advantages over existing technologies, which will not be repeated here.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0020] Figure 1 This is a schematic diagram of a space-oriented 7-DOF cable-driven robotic arm according to an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the structure of the shoulder assembly according to an embodiment of the present invention;

[0022] Figure 3 This is an exploded view of a winding drive assembly according to an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the boom housing according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the forearm housing according to an embodiment of the present invention;

[0025] Figure 6 This is an exploded view of the elbow assembly according to an embodiment of the present invention;

[0026] Figure 7 This is a cross-sectional view of the elbow assembly according to an embodiment of the present invention;

[0027] Figure 8 This is a structural schematic diagram of a pulley component according to an embodiment of the present invention;

[0028] Figure 9This is a cross-sectional view of the pulley component according to an embodiment of the present invention;

[0029] Figure 10 This is a schematic diagram of the wrist assembly according to an embodiment of the present invention;

[0030] Figure 11 This is a schematic diagram of the transmission path of the first transmission rope according to an embodiment of the present invention;

[0031] Figure 12 This is a schematic diagram of the transmission path of the second transmission rope according to an embodiment of the present invention.

[0032] Figure label:

[0033] 100-degree 7-DOF cable-driven robotic arm for space orientation.

[0034] Upper arm housing 1, first threading cavity 11, forearm housing 2, second threading cavity 21, elbow assembly 3, pulley structure 31, first auxiliary pulley 311, first main pulley 312, second main pulley 313, second auxiliary pulley 314, bearing component 315, bearing end cover 3151, pulley component 316, winding groove 3161, mounting shaft 3162, elbow connecting plate 32, elbow adapter plate 33, rotary transformer 34, wrist assembly 4, wrist housing 41, Rotary pulley block; 42, Wrist rotator; 43, Wrist rotation end plate; 44, Universal joint assembly; 45, Movable link; 46, Winding drive assembly; 5, First winding motor; 511, First drive rope; 512, Second winding motor; 521, Second drive rope; 522, Frame structure; 52, Mounting cavity; 6, Shoulder assembly; 61, Yaw joint; 62, Roll joint; 63, Pitch joint; 631, Shoulder adapter plate; 7, Grip assembly; 8, Camera assembly. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] The following is for reference. Figures 1-12 This invention describes a space-oriented 7-DOF rope-driven robotic arm 100 according to an embodiment of the present invention. This space-oriented 7-DOF rope-driven robotic arm 100 can precisely control the movement of the forearm housing 2 relative to the upper arm housing 1 and the movement of the wrist assembly 4 relative to the forearm housing 2, enabling the space-oriented 7-DOF rope-driven robotic arm 100 to flexibly complete various tasks in complex spatial environments. It also achieves electromechanical separation and features low weight, high inertia, high sensitivity, high speed, and high reliability. Its simple structure facilitates maintenance and repair, reducing maintenance costs.

[0039] like Figures 1-12 As shown, a space-oriented 7-DOF cable-driven robotic arm 100 according to an embodiment of the present invention includes: an upper arm housing 1, a lower arm housing 2, and an elbow assembly 3.

[0040] The upper arm housing 1 is the main support structure of the space-facing 7-DOF cable-driven robotic arm 100. It bears the weight of the space-facing 7-DOF cable-driven robotic arm 100 and various forces during its movement, and protects the components inside the upper arm housing 1. The lower arm housing 2 is connected below the upper arm housing 1 and also bears a portion of the weight and forces of the space-facing 7-DOF cable-driven robotic arm 100, protecting the components inside the lower arm housing 2. The upper arm housing 1 can be connected to the upper-level support structure, and the lower arm housing 2 can be connected to the lower-level support structure. Furthermore, the upper arm housing 1 can transmit power to the lower arm housing 2. It can transmit power to other components to achieve the final movement and action. Thus, the upper arm housing 1 and the lower arm housing 2, as the arm support components of the space-oriented 7-DOF rope-driven robotic arm 100, play a connecting role. They not only support and connect the entire structure of the space-oriented 7-DOF rope-driven robotic arm 100, but also transmit power to realize the operation of the space-oriented 7-DOF rope-driven robotic arm 100, ensuring the movement stability and reliability of the space-oriented 7-DOF rope-driven robotic arm 100, enabling the space-oriented 7-DOF rope-driven robotic arm 100 to perform complex tasks.

[0041] The upper arm housing 1 and the forearm housing 2 are connected by an elbow assembly 3, that is, the upper arm housing 1 and the forearm housing 2 are respectively connected to both ends of the elbow assembly 3, as shown below. Figure 1 As shown, one end of the elbow assembly 3 is connected to the upper arm housing 1, and the other end is connected to the forearm housing 2. The elbow assembly 3 transmits motion and ensures that the upper arm housing 1 and forearm housing 2 remain in a stable connection state, allowing relative movement between them. The elbow assembly 3 can rotate and fold to simulate the movement of a human elbow joint, thereby driving the movement of the forearm housing 2, which is equivalent to the movement of a human arm. The forearm housing 2, at the end opposite to the elbow assembly 3, is connected to a wrist assembly 4. Force can be transmitted from the upper arm housing 1 through the forearm housing 2 to the wrist assembly 4. The wrist assembly 4 simulates the movement of a human wrist, enabling more precise movements and actions, thus ensuring the flexibility and reliability of the space-oriented 7-DOF cable-driven robotic arm 100.

[0042] The elbow assembly 3 includes a pulley structure 31, which enables relative movement between the upper arm housing 1 and the lower arm housing 2. The upper arm housing 1 is connected to a winding transmission assembly 5, which drives a transmission rope via a motor to achieve precise control of various parts of the space-oriented 7-DOF rope-driven robotic arm 100. The transmission rope has a direct transmission path and high transmission efficiency, simplifying the transmission structure and path of the space-oriented 7-DOF rope-driven robotic arm 100. This allows the power provided by the motor to be effectively transmitted to various parts of the space-oriented 7-DOF rope-driven robotic arm 100, reducing energy loss and the complexity and weight of the space-oriented 7-DOF rope-driven robotic arm 100. Meanwhile, the transmission rope has high tensile strength and can be flexibly arranged along the length of the space-facing 7-DOF rope-driven robotic arm 100. This allows the space-facing 7-DOF rope-driven robotic arm 100 to better adapt to various complex spatial environments during operation, achieving more flexible operation. This enables the robot's posture and position to be quickly adjusted to reach the predetermined pose, thus improving the sensitivity of the space-facing 7-DOF rope-driven robotic arm 100.

[0043] Furthermore, the winding drive assembly 5 includes a first winding structure and a second winding structure. The first winding structure includes a first winding motor 511 and a first drive rope 512 connected together. The first drive rope 512 is wound around and connected to the pulley structure 31 to drive the forearm housing 2 to move relative to the upper arm housing 1. The second winding structure includes a second winding motor 521 and a second drive rope 522 connected together. The second drive rope 522 is wound around the pulley structure 31 and connected to the wrist assembly 4 to drive the wrist assembly 4 to move relative to the forearm housing 2.

[0044] Specifically, the first transmission rope 512 and the second transmission rope 522 can be wound around the pulley structure 31 to support and guide the movement direction of the transmission ropes. The first winding motor 511 provides power to the first transmission rope 512. When the first winding motor 511 is working, it drives the first transmission rope 512 to move, causing the first transmission rope 512 to tighten or loosen on the pulley structure 31. In turn, the movement of the first transmission rope 512 drives the forearm housing 2 to move relative to the upper arm housing 1, that is, the forearm housing 2 can rotate, lift, etc. relative to the upper arm housing 1. The second winding motor 521 provides power to the second transmission rope 522. When the second winding motor 521 is working, it drives the second transmission rope 522 to tighten or loosen on the pulley structure 31. In turn, the second transmission rope 522 drives the wrist assembly 4 to move relative to the forearm housing 2, that is, the wrist assembly 4 can rotate, flip, tilt, etc. relative to the forearm housing 2 to achieve more complex tasks.

[0045] Thus, through the cooperation of the first and second winding structures with the pulley structure 31, the space-oriented 7-DOF rope-driven robotic arm 100 can move flexibly in different directions and angles under the action of the first and second winding structures, precisely controlling the movement of the forearm housing 2 relative to the upper arm housing 1 and the movement of the wrist assembly 4 relative to the forearm housing 2, realizing multi-level flexible movement from the upper arm housing 1 to the forearm housing 2 and then to the wrist assembly 4, enabling the space-oriented 7-DOF rope-driven robotic arm 100 to flexibly complete various tasks in complex spatial environments.

[0046] The space-oriented 7-DOF rope-driven robotic arm 100, driven by the first transmission rope 512 and the second transmission rope 522, not only combines the high rigidity, large operating force, and high control precision of traditional rigid arms, but also achieves electromechanical separation. Specifically, the first wound motor 511 and the second wound motor 521 are centrally distributed, the first transmission rope 512 and the second transmission rope 522 are actively driven, and the elbow assembly 3 is passively supported. In other words, the wound motors and drivers are not installed at the various joints of the space-oriented 7-DOF rope-driven robotic arm 100, but are centrally arranged in the space-oriented... The 7-DOF tethered robotic arm 100 is positioned at or near its base. This distribution not only inherits the high precision of traditional rigid arms but also simplifies the structure, allowing it to better adapt to harsh outdoor environments. It is also easier to maintain and repair, resulting in lower maintenance costs. This significantly improves the reliability of the space-oriented 7-DOF tethered robotic arm 100. Furthermore, the electromechanical separation greatly reduces the mass and inertia of the space-oriented 7-DOF tethered robotic arm 100, thereby significantly increasing its speed in engaging non-cooperative targets and making it more flexible and agile.

[0047] According to an embodiment of the present invention, the space-oriented 7-DOF rope-driven robotic arm 100, by setting a pulley structure 31 in the elbow assembly 3 and connecting the upper arm housing 1 to the winding transmission assembly 5 including a first winding structure and a second winding structure, enables the space-oriented 7-DOF rope-driven robotic arm 100 to precisely control the movement of the forearm housing 2 relative to the upper arm housing 1 and the movement of the wrist assembly 4 relative to the forearm housing 2 under the action of the first winding structure and the second winding structure. This allows the space-oriented 7-DOF rope-driven robotic arm 100 to flexibly complete various tasks in complex spatial environments, and achieves electromechanical separation. It features low weight and light inertia, high sensitivity, high speed and high reliability. The structure is simple, easy to maintain and repair, and reduces maintenance costs. At the same time, it has the characteristics of high rigidity, large operating force and high control precision of traditional rigid arms.

[0048] In some embodiments, such as Figure 6As shown, the pulley structure 31 includes a first auxiliary pulley 311, a first main pulley 312, a second main pulley 313, and a second auxiliary pulley 314. The first auxiliary pulley 311 and the first main pulley 312 are both installed on the upper arm housing 1, that is, the first auxiliary pulley 311 and the first main pulley 312 can be used to initially guide and change the transmission path of the first transmission rope 512 and the second transmission rope 522. The second main pulley 313 and the second auxiliary pulley 314 are both installed on the forearm housing 2, that is, the second main pulley 313 and the second auxiliary pulley 314 can be used to further guide the transmission path of the first transmission rope 512 and the second transmission rope 522, so that force can be transmitted from the upper arm housing 1 to the forearm housing 2 and from the upper arm housing 1 to the wrist assembly 4 through the first auxiliary pulley 311, the first main pulley 312, the second main pulley 313, and the second auxiliary pulley 314, realizing the flexible movement of the upper arm housing 1, the forearm housing 2, and the wrist assembly 4.

[0049] The first transmission rope 512 is sequentially wound around the first auxiliary pulley 311 and the first main pulley 312 and then connected to the second main pulley 313. The second transmission rope 522 is sequentially wound around the first auxiliary pulley 311, the first main pulley 312, the second main pulley 313 and the second auxiliary pulley 314 and then connected to the wrist assembly 4.

[0050] In other words, by tightening or loosening the first transmission rope 512 on the first auxiliary pulley 311, the first main pulley 312, and the second main pulley 313, the power from the upper arm housing 1 is transmitted to the forearm housing 2, enabling the forearm housing 2 to move relative to the upper arm housing 1, thereby driving the forearm housing 2 to perform rotation, extension, and other movements. Furthermore, the first auxiliary pulley 311, the first main pulley 312, the second main pulley 313, and the second auxiliary pulley 314 provide a smooth transmission path for the second transmission rope 522, ensuring its stable connection to the wrist assembly 4. This transmits the power from the upper arm housing 1 to the wrist assembly 4, allowing for flexible control of the wrist assembly 4's movement and enabling precise movements relative to the forearm housing 2.

[0051] Thus, by flexibly setting the transmission paths of the first transmission rope 512 and the second transmission rope 522 on the pulley structure 31, and precisely controlling the tension of the transmission ropes, the large-range movement of the space-oriented 7-DOF rope-driven robotic arm 100 and the fine operation of the wrist component 4 are realized, greatly improving the flexibility of the space-oriented 7-DOF rope-driven robotic arm 100 and ensuring its efficient, accurate and reliable operation in various complex environments.

[0052] In the actual design, the elbow assembly can also be equipped with a rotary transformer 34, which can accurately measure the angular position of the elbow joint, improve the control accuracy of the space-facing 7-DOF rope-driven robotic arm 100, and facilitate timely adjustment of the movement of the space-facing 7-DOF rope-driven robotic arm 100, making its movement more precise.

[0053] In some embodiments, there are two first drive ropes 512, both of which are connected to a first winding motor 511. The first winding motor 511 is adapted to wind up one first drive rope 512 when rotating in the forward direction and to wind up the other first drive rope 512 when rotating in the reverse direction.

[0054] In other words, the rotation of the two first transmission ropes 512 is controlled by the forward and reverse rotation of the first winding motor 511, thereby realizing the rotation of the joint, that is, the rotation of the forearm housing 2 relative to the upper arm housing 1.

[0055] One first transmission rope 512 is adapted to be sequentially wound around the first side of the first auxiliary pulley 311, the second side of the first main pulley 312, and the second side of the second main pulley 313, and then connected to the first side of the second main pulley 313. The other first transmission rope 512 is adapted to be sequentially wound around the second side of the first auxiliary pulley 311, the first side of the first main pulley 312, and the first side of the second main pulley 313, and then connected to the second side of the second main pulley 313. That is, the first auxiliary pulley 311 is used to guide the path of the two first transmission ropes 512.

[0056] Specifically, such as Figure 11 As shown, the first side is Figure 11 The upper side shown, the second side is Figure 11 As shown in the diagram, on the lower side, one of the first transmission ropes 512 is sequentially wound around the lower side of the first auxiliary pulley 311, the upper side of the first main pulley 312, and the upper side of the second main pulley 313, and after passing the upper side of the second main pulley 313, it is connected to the lower side of the second main pulley 313. Similarly, the other first transmission rope 512 is sequentially wound around the upper side of the first auxiliary pulley 311, the lower side of the first main pulley 312, and the lower side of the second main pulley 313, and after passing the upper side of the second main pulley 313, it is connected to the upper side of the second main pulley 313. Thus, the two first transmission ropes 512 are wound in a figure-eight pattern around the pulley structure 31, ensuring that the elbow joint on one side rotates around the rotation center of the elbow joint on the other side, preventing slippage between the two elbow joints. Even if the relative positions between the upper arm housing 1 and the lower arm housing 2 remain unchanged, they both rotate around the same rotation center, which is the position of the second main pulley 313, avoiding slippage between the upper arm housing 1 and the lower arm housing 2 during movement, thereby ensuring the stability and accuracy of the 7-DOF rope-driven robotic arm 100 facing the space.

[0057] In practice, when the first winding motor 511 rotates in the forward direction, the first first transmission rope 512 is wound up and moves along the path of the first side of the first auxiliary pulley 311, the second side of the first main pulley 312, the second side of the second main pulley 313, and the first side of the second main pulley 313. Simultaneously, the second first transmission rope 512 is released, thereby causing the forearm housing 2 to rotate in a predetermined direction, thus realizing the movement of the forearm housing 2. When the first winding motor 511 rotates in the reverse direction, the second first transmission rope 512 is wound up and moves along the path of the second side of the first auxiliary pulley 311, the first side of the first main pulley 312, the first side of the second main pulley 313, and the second side of the second main pulley 313. Simultaneously, the first first transmission rope 512 is released, thereby causing the forearm housing 2 to rotate in the opposite direction, thus realizing the movement of the forearm housing 2.

[0058] In some embodiments, there are two second drive ropes 522, both of which are connected to a second winding motor 521. The second winding motor 521 is adapted to wind up one second drive rope 522 when rotating in the forward direction and to wind up the other second drive rope 522 when rotating in the reverse direction.

[0059] In other words, the rotation of the joint is achieved by controlling the forward and reverse rotation of the second winding motor 521 to wind up the two second transmission ropes 522, thereby realizing the rotation of the wrist assembly 4 relative to the forearm housing 2.

[0060] One of the second transmission ropes 522 is adapted to be sequentially wound around the first side of the first auxiliary pulley 311, the second side of the first main pulley 312 and the first side of the second main pulley 313, and the second side of the second auxiliary pulley 314 before being connected to the wrist assembly 4. The other first transmission rope 512 is adapted to be sequentially wound around the second side of the first auxiliary pulley 311, the first side of the first main pulley 312 and the second side of the second main pulley 313, and the first side of the second auxiliary pulley 314 before being connected to the wrist assembly 4.

[0061] Specifically, such as Figure 12 As shown, the first side is Figure 12 The upper side shown, the second side is Figure 12As shown in the diagram, on the lower side, one of the second transmission ropes 522 is sequentially wound around the upper side of the first auxiliary pulley 311, the lower side of the first main pulley 312 and the upper side of the second main pulley 313, and the lower side of the second auxiliary pulley 314, and connects to the wrist assembly 4 after passing the lower side of the second auxiliary pulley 314. Similarly, the other second transmission rope 522 is sequentially wound around the lower side of the first auxiliary pulley 311, the upper side of the first main pulley 312 and the lower side of the second main pulley 313, and the upper side of the second auxiliary pulley 314, and connects to the wrist assembly 4 after passing the upper side of the second auxiliary pulley 314. The wrist assembly 4 is connected, and thus, the two second transmission ropes 522 are wound in a figure-eight pattern on the pulley structure 31, allowing the two second transmission ropes 522 to pass smoothly through the elbow assembly 3, i.e., the elbow joint, and realizing the separation of the movement of the forearm housing 2 relative to the upper arm housing 1 and the movement of the wrist assembly 4 relative to the forearm housing 2. In other words, by setting up the pulley structure 31 and allowing the second transmission ropes 522 to pass smoothly through the pulley structure 31, the coupling of the first transmission rope 512 and the second transmission rope 522 with the movement of the forearm housing 2 when passing through the elbow assembly 3 is avoided.

[0062] In practice, when the second winding motor 521 rotates in the forward direction, the first second transmission rope 522 is wound up and moves along the path of the first side of the first auxiliary pulley 311, the second side of the first main pulley 312, the first side of the second main pulley 313, and the second side of the second auxiliary pulley 314. Simultaneously, the second second transmission rope 522 is unwound, thereby further driving the wrist assembly 4 to move. When the second winding motor 521 rotates in the reverse direction, the second second transmission rope 522 is wound up and moves along the path of the first side of the first auxiliary pulley 311, the second side of the first main pulley 312, the first side of the second main pulley 313, and the second side of the second auxiliary pulley 314. Simultaneously, the first second transmission rope 522 is unwound, thereby further driving the wrist assembly 4 to move in the opposite direction.

[0063] In some embodiments, the first main pulley 312 and the second main pulley 313 both include a bearing member 315 and a pulley member 316. The outer peripheral wall of the pulley member 316 has a winding groove 3161, which is installed inside the pulley member 316. The bearing member 315 is used to pass through and install the rotating shaft 3162.

[0064] Specifically, such as Figure 8 and Figure 9As shown, both the first main pulley 312 and the second main pulley 313 include a bearing 315 and a pulley 316. The outer peripheral wall of the pulley 316 is recessed by a small distance to form a winding groove 3161. The winding groove 3161 is used to wind the first transmission rope 512 and the second transmission rope 522. The shape and depth of the winding groove 3161 should be adapted to the shape and size of the first transmission rope 512 and the second transmission rope 522 as well as the winding path, so as to ensure that the transmission rope can remain stable on the first main pulley 312 and the second main pulley 313, and avoid its deviation or slippage, which would affect the power transmission and the movement of the 7-DOF rope-driven robotic arm 100 facing the space.

[0065] The inner circumference of the pulley 316 is equipped with a rotatable bearing 315. In practice, the bearing 315 can be embedded in the bearing end cover 3151. The bearing 315 serves as a support structure for the rotation of the pulley 316, allowing the pulley 316 to rotate smoothly and along the ground when subjected to external forces, avoiding jamming and affecting the movement of the 7-DOF rope-driven robotic arm 100 facing the space. In practice, the bearing 315 can be a sliding bearing, ball bearing, etc., which can be flexibly selected according to actual needs. The bearing component 315 has a central mounting shaft 3162, and the elbow assembly 3 has an elbow connecting plate 32. After the mounting shaft 3162 passes through the bearing component 315, its end away from the bearing component 315 can be mounted on the elbow connecting plate 32, thereby connecting the pulley component 316 and the elbow connecting plate 32. The elbow connecting plate 32 has elbow adapter plates 33 at both ends. One elbow adapter plate 33 is fixedly connected to the upper arm housing 1, and the other elbow adapter plate 33 is fixedly connected to the lower arm housing 2. The ends of the two elbow adapter plates 33 near the elbow connecting plate 32 are both mounted on the mounting shaft 3162. Thus, when the first transmission rope 512 is wound and tightened, it can drive the pulley component 316 to rotate smoothly, thereby allowing the lower arm housing 2 to rotate flexibly relative to the upper arm housing 1. That is, the relative rotation of the elbow adapter plates 33 drives the movement of the lower arm housing 2 and the upper arm housing 316.

[0066] In some embodiments, the wrist assembly 4 includes a wrist housing 41, a rotary pulley assembly 42, a wrist rotater 43, and a wrist rotating end plate 44. The wrist rotater 43 is rotatably mounted on the wrist housing 41 via the rotary pulley assembly 42. The wrist rotating end plate 44 is connected to the wrist rotater 43 via a universal joint assembly 45, and two movable connecting rods 46 are also connected between the wrist rotating end plate 44 and the wrist rotater 43.

[0067] Specifically, such as Figure 10As shown, the wrist assembly 4 includes a wrist housing 41, a rotary pulley system 42, a wrist rotater 43, and a wrist rotating end plate 44. The wrist housing 41 is used to fix and protect the internal components. As shown in the vertical direction in the figure, the wrist rotating end plate 44 is located above and the wrist housing 41 is located below. The rotary pulley system 42 is installed inside the wrist housing 41, and the wrist rotater 43 is installed on the upper side of the wrist housing 41. The wrist rotater 43 is rotatably installed on the wrist housing 41 through the rotary pulley system 42. Through the transmission of the rotary pulley system 42, the wrist rotater 43 can rotate relative to the wrist housing 41, and the wrist assembly 4 can rotate 360 ​​degrees, improving the flexibility of the space-oriented 7-DOF rope-driven robotic arm 100. The wrist rotating end plate 44 is connected to the wrist resolver 43 via a universal joint assembly 45. The flexible connection of the universal joint assembly 45 allows the wrist rotating end plate 44 to perform pitch and yaw movements relative to the wrist resolver 43. The two movable links 46 connecting the wrist rotating end plate 44 and the wrist resolver 43 can transmit force through their movement, allowing the wrist rotating end plate 44 to be precisely controlled in the pitch and yaw directions, thereby enabling flexible operation of the load.

[0068] Furthermore, the second winding structure consists of three sets. One set of the second winding structure's second transmission rope 522 is connected to the rotating pulley group 42 to drive the wrist rotation 43, which is equivalent to the wrist housing 41, to rotate. Another set of the second winding structure's second transmission rope 522 is connected to a movable link 46 to drive the wrist rotation end plate 44, which is equivalent to the wrist rotation 43, to perform pitch motion. The other set of the second winding structure's second transmission rope 522 is connected to another movable link 46 to drive the wrist rotation end plate 44, which is equivalent to the wrist rotation 43, to perform yaw motion.

[0069] Specifically, the wrist rotation mechanism 43 can be rotated relative to the wrist housing 41 by the release and retraction of the second transmission rope 522 of the first set of second winding structures, increasing the rotational freedom of the 7-DOF cable-driven robotic arm 100 facing the space. The wrist rotation end plate 44 can be pitched relative to the wrist rotation mechanism 43 by the release and retraction of the second transmission rope 522 of the second set of second winding structures, i.e., swinging up and down, so that the wrist rotation end plate 44 can accurately point to the target position or perform the task. The wrist rotation end plate 44 can be yawed relative to the wrist rotation mechanism 43 by the release and retraction of the second transmission rope 522 of the third set of second winding structures, i.e., swinging left and right or rotating around the vertical axis, thereby further increasing the flexibility of the wrist assembly 4 and enabling it to perform more complex tasks.

[0070] Thus, by setting up three sets of second winding structures and their different connection methods and movement modes with the rotating pulley block 42, movable link 46, wrist rotation 43 and wrist rotating end plate 44, the wrist component 4 can be precisely and flexibly controlled in multiple directions. Furthermore, the movement of different components is driven by the second transmission rope 522 to achieve complex movements such as rotation, pitch and yaw of the wrist component 4. This enables the wrist component 4 of the space-oriented 7-DOF rope-driven robotic arm 100 to flexibly cope with various work scenarios and task requirements.

[0071] In some embodiments, such as Figure 3 As shown, the winding drive assembly 5 includes a frame structure 52, which protects its internal components. The frame structure 52 can be constructed as a rectangular structure, or other shapes, such as a cylindrical structure, depending on actual needs. The frame structure 52 is hollow inside to form a mounting cavity 521. The first winding motor 511 and the second winding motor 521 are both installed in the mounting cavity 521, thereby preventing the first winding motor 511 and the second winding motor 521 from being affected by the external environment. For example, it prevents dust, water, and other foreign objects from affecting and damaging the winding motors, thus affecting their normal operation.

[0072] In the actual design, the housings of the first wound motor 511 and the second wound motor 521 are mounted on the motor mounting bracket to ensure the stability of the first wound motor 511 and the second wound motor 521.

[0073] In some embodiments, such as Figure 1 As shown, the winding drive assembly 5 is connected to the end of the upper arm housing 1 away from the elbow assembly 3. In this way, the entire winding drive assembly 5 is concentrated on one side of the upper arm housing 1, that is, the weight of the winding drive assembly 5 is concentrated at the upper position, which is conducive to balancing the weight of the 7-DOF rope-driven robotic arm 100 facing the space, effectively reducing the motion inertia of the upper arm, realizing "lightweight" control, and improving the overall stability and motion accuracy of the 7-DOF rope-driven robotic arm 100 facing the space.

[0074] The upper arm housing 1 is provided with a first threading cavity 11, and the lower arm housing 2 is provided with a second threading cavity 21. The first transmission rope 512 is threaded through the first threading cavity 11, and the second transmission rope 522 is threaded through the first threading cavity 11 and the second threading cavity 21 in sequence.

[0075] Specifically, such as Figure 5 and Figure 6As shown, the upper arm housing 1 and the lower arm housing 2 can be constructed as rectangular structures. The interior of the upper arm housing 1 is hollow to form a first threading cavity 11, and the interior of the lower arm housing 2 is hollow to form a second threading cavity 21. The first threading cavity 11 is used to allow the first transmission rope 512 and the second transmission rope 522 to pass smoothly through and connect to the pulley structure 31, and to ensure the smooth movement of the transmission ropes and avoid them from being affected by the outside world. The second threading cavity 21 is used to allow the second transmission rope 522 to pass smoothly through and connect to the wrist assembly 4.

[0076] In some embodiments, such as Figure 1 As shown, the wound drive assembly 5 is connected to a shoulder assembly 6 at the end furthest from the boom housing 1, as... Figure 2 As shown, the shoulder assembly 6 includes a yaw joint 61, a roll joint 62, and a pitch joint 63. Through the cooperation of these three joints, the flexible movement of the upper arm housing 1 of the 7-DOF cable-driven robotic arm 100 facing the space is achieved. Furthermore, all three joints utilize a combination of a motor and a harmonic reducer, employing crossed roller bearings as rotational supports. The drive mechanism features a built-in design, resulting in a compact overall base size that can be installed in confined spaces, avoiding interference with other components.

[0077] The pitch joint 63 is also connected to a shoulder adapter plate 631, which can be connected to the winding drive assembly 5.

[0078] In some embodiments, the wrist assembly 4 is connected to a gripper assembly 7 and a camera assembly 8 at the end opposite to the forearm housing 2, such as... Figure 1 As shown, the wrist rotation end plate 44 of the wrist assembly 4 is connected to the camera assembly 8, that is, the wrist assembly 4 provides stable support for the gripper assembly 7 and the camera assembly 8 to ensure that the gripper assembly 7 remains stable during the gripping process and can grip flexibly.

[0079] The gripper assembly 7 is suitable for being driven by the gripper motor assembly, which provides power to the gripper assembly to drive the gripper assembly 7 to open and close to grasp objects. During the grasping process, the camera assembly 8 identifies the object to facilitate the gripper assembly 7 to accurately grasp the target object.

[0080] Thus, through the cooperation of the wrist assembly 4, the gripper assembly 7, and the camera assembly 8, the space-facing 7-DOF rope-driven robotic arm 100 can accurately grasp target objects and complete various complex tasks.

[0081] The present invention also proposes a mechanical device.

[0082] According to the mechanical device of the present invention, a space-oriented 7-DOF rope-driven robotic arm 100 of any of the above embodiments is provided. By providing a pulley structure 31 in the elbow assembly 3, and connecting the upper arm housing 1 to a winding transmission assembly 5 including a first winding structure and a second winding structure, the space-oriented 7-DOF rope-driven robotic arm 100 can accurately control the movement of the lower arm housing 2 relative to the upper arm housing 1 and the movement of the wrist assembly 4 relative to the lower arm housing 2 under the action of the first winding structure and the second winding structure. This allows the space-oriented 7-DOF rope-driven robotic arm 100 to flexibly complete various tasks in complex spatial environments, and achieves electromechanical separation. It has the characteristics of low weight and light inertia, high sensitivity, high speed and high reliability. The structure is simple, easy to maintain and repair, and reduces maintenance costs. At the same time, it has the characteristics of high rigidity, large operating force and high control precision of traditional rigid arms.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0084] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A space-oriented 7-DOF cable-driven robotic arm, characterized in that, include: upper arm housing and lower arm housing; Elbow assembly, wherein the upper arm housing and the forearm housing are connected by the elbow assembly, the elbow assembly includes a pulley structure, and the forearm housing is connected to a wrist assembly at the end opposite to the elbow assembly; The upper arm housing is connected to a winding drive assembly, which includes a first winding structure and a second winding structure. The first winding structure includes a first winding motor and a first drive rope connected together. The first drive rope is wound around and connected to the pulley structure to drive the forearm housing to move relative to the upper arm housing. The second winding structure includes a second winding motor and a second drive rope connected together. The second drive rope is wound around the pulley structure and connected to the wrist assembly to drive the wrist assembly to move relative to the forearm housing. The pulley structure includes a first auxiliary pulley, a first main pulley, a second main pulley, and a second auxiliary pulley. The first auxiliary pulley and the first main pulley are both mounted on the upper arm housing, and the second main pulley and the second auxiliary pulley are both mounted on the forearm housing. The first transmission rope is sequentially wound around the first auxiliary pulley and the first main pulley and then connected to the second main pulley. The second transmission rope is sequentially wound around the first auxiliary pulley, the first main pulley, the second main pulley, and the second auxiliary pulley and then connected to the wrist assembly. There are two first transmission ropes, both connected to the first winding motor. The first winding motor is adapted to wind up one first transmission rope when rotating in the forward direction and to wind up the other first transmission rope when rotating in the reverse direction. One first transmission rope is adapted to be wound sequentially around the first side of the first auxiliary pulley, the second side of the first main pulley, and the second side of the second main pulley before being connected to the first side of the second main pulley. The other first transmission rope is adapted to be wound sequentially around the second side of the first auxiliary pulley, the first side of the first main pulley, and the first side of the second main pulley before being connected to the second side of the second main pulley.

2. The space-oriented 7-DOF cable-driven robotic arm according to claim 1, characterized in that, There are two second drive ropes, both of which are connected to the second winding motor. The second winding motor is adapted to wind up one second drive rope when rotating in the forward direction and to wind up the other second drive rope when rotating in the reverse direction. One of the first transmission ropes is adapted to be sequentially wound around the first side of the first auxiliary pulley, the second side of the first main pulley and the first side of the second main pulley, and the second side of the second auxiliary pulley before being connected to the wrist assembly. The other first transmission rope is adapted to be sequentially wound around the second side of the first auxiliary pulley, the first side of the first main pulley and the second side of the second main pulley, and the first side of the second auxiliary pulley before being connected to the wrist assembly.

3. The space-oriented 7-DOF cable-driven robotic arm according to claim 1, characterized in that, Both the first main pulley and the second main pulley include a bearing component and a pulley component. The outer peripheral wall of the pulley component has a winding groove. The bearing component is installed inside the pulley component and is used to install a rotating shaft.

4. The space-oriented 7-DOF cable-driven robotic arm according to any one of claims 1-3, characterized in that, The wrist assembly includes a wrist housing, a rotary pulley system, a wrist retractor, and a wrist rotating end plate. The wrist retractor is rotatably mounted on the wrist housing via the rotary pulley system. The wrist rotating end plate is connected to the wrist retractor via a universal joint assembly, and two movable connecting rods are also connected between the wrist rotating end plate and the wrist retractor. The second winding structure consists of three sets. One set of the second winding structure's second transmission rope is connected to the rotating pulley group to drive the wrist rotation, which is equivalent to the wrist housing rotating. Another set of the second winding structure's second transmission rope is connected to one of the movable connecting rods to drive the wrist rotation end plate, which is equivalent to the wrist rotation, to perform pitch motion. The third set of the second winding structure's second transmission rope is connected to another movable connecting rod to drive the wrist rotation end plate, which is equivalent to the wrist rotation, to perform yaw motion.

5. The space-oriented 7-DOF cable-driven robotic arm according to any one of claims 1-3, characterized in that, The winding drive assembly includes a frame structure with a mounting cavity formed inside the frame structure, and both the first winding motor and the second winding motor are mounted in the mounting cavity.

6. The space-oriented 7-DOF cable-driven robotic arm according to any one of claims 1-3, characterized in that, The winding drive assembly is connected to the end of the upper arm housing away from the elbow assembly. The upper arm housing is provided with a first threading cavity, and the lower arm housing is provided with a second threading cavity. The first transmission rope is threaded through the first threading cavity, and the second transmission rope is sequentially threaded through the first threading cavity and the second threading cavity.

7. The space-oriented 7-DOF cable-driven robotic arm according to claim 6, characterized in that, The winding drive assembly is connected to a shoulder assembly at the end away from the boom housing; And / or, the wrist assembly is connected to a gripper assembly and a camera assembly at one end opposite to the forearm housing, the gripper assembly being adapted to be driven by a gripper motor assembly.

8. A mechanical device, characterized in that, The 7-DOF cable-driven robotic arm, as described in any one of claims 1-7, is provided.

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