High-load-ratio rope-driven humanoid agile mechanical arm based on heterogeneous differential joints

Abstract

The invention relates to a high-load-ratio rope-driven humanoid agile mechanical arm based on heterogeneous differential joints. Comprising a base, a three-degree-of-freedom differential shoulder joint, a first arm rod, a two-degree-of-freedom differential elbow and a wrist joint which are connected in sequence, wherein the three-degree-of-freedom differential shoulder joint performs first shoulder rotary motion, second shoulder pitching motion and third shoulder rotary motion; the two-degree-of-freedom differential elbow and wrist joint performs elbow pitching motion and first wrist rotary motion; the two-degree-of-freedom differential wrist joint is used for carrying out pitching motion of the second wrist and rotary motion of the third wrist, and the driving source is used for providing power. The loading capacity can be improved, and the seven-degree-of-freedom, large-load-ratio and agile effects of the mechanical arm are achieved.

Description

Technical Field

[0001] The invention relates to a high load ratio rope-driven anthropomorphic agile robotic arm based on heterogeneous differential joints, and belongs to the technical field of robotic arms. Background Art

[0002] With the continuous deepening of research on robotic arm technology, the performance and application scenarios of robotic arms are constantly expanding, and the types of robotic arms are becoming more refined. In order to meet the different requirements for the performance of robotic arms in different scenarios, robotic arms have undergone many innovations in terms of structure and drive mode. Among them, the rope-driven rigid arm, as a new type of robotic arm, uses a flexible medium such as ropes to drive the joints, which is one of the keys to improving the robotic arm towards a safer and more human-machine interactive direction. Summary of the invention

[0003] The present invention provides a high load ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints, aiming to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a high load ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints, which can improve the load capacity and achieve the effects of seven degrees of freedom, high load ratio and agility of the manipulator.

[0004] On the one hand, the technical solution of the present invention relates to a high load-ratio rope-driven anthropomorphic agile robotic arm based on heterogeneous differential joints, including a base connected in sequence, a three-degree-of-freedom differential shoulder joint for performing shoulder one rotation movement, shoulder two pitch movement and shoulder three rotation movement, a first arm, a two-degree-of-freedom differential elbow and wrist joint for performing elbow pitch movement and wrist one rotation movement, a second arm and a two-degree-of-freedom differential wrist joint for performing wrist two pitch movement and wrist three rotation movement, and a driving source for providing power.

[0005] Further, the driving source includes a first driving source, a second driving source, a third driving source, a fourth driving source, a fifth driving source, a sixth driving source, and a seventh driving source; the first driving source, the second driving source, and the third driving source for driving the three-degree-of-freedom differential shoulder joint are all fixed on the base; the fourth driving source and the fifth driving source for driving the two-degree-of-freedom differential elbow and wrist joint are fixed on the first arm; the sixth driving source and the seventh driving source for driving the two-degree-of-freedom differential wrist joint are fixed on the second arm.

[0006] Furthermore, the three-degree-of-freedom differential shoulder joint includes a differential mechanism, a slewing bracket and a pitch bracket arranged on a base; the differential mechanism includes a first differential connecting shaft and a second differential connecting shaft, and a differential wheel coaxially arranged in a first direction and capable of rotating independently. , first and second differential wheels and one-three differential , and a second differential gear coaxially arranged along the second direction and coaxially connected to the first differential connecting shaft , 22 differential and second and third differential wheels , and a three-two differential wheel coaxially arranged along the third direction and coaxially connected to the second differential connecting shaft and three-three differential , and are used to drive the differential wheels , the first and second differential wheels and the one-three differential wheels The first differential drive source, the second differential drive source and the third differential drive source are rotated; the first direction, the second direction and the third direction intersect at one point; the first differential connecting shaft is fixedly connected to the rotating bracket, and the two-one differential wheel is fixedly connected to the pitch bracket; wherein the differential wheel and the two-one differential The first differential pair is formed, and the first and second differential wheels The two differential wheels And the three-two differential The second differential pair is formed, and the first and third differential wheels The second and third differential wheels And the three-three differential A third differential kinematic pair is formed, thereby allowing a first joint rotational motion, a second joint pitching motion and a three-joint rotational motion to be generated through the first differential kinematic pair, the second differential kinematic pair and the third differential kinematic pair.

[0007] Further, the two-degree-of-freedom differential elbow and wrist joint includes a left differential wheel of the elbow, a right differential wheel of the elbow, an upper differential wheel of the elbow, a left differential end drive wheel of the elbow, and a right differential end drive wheel of the elbow;

[0008] Among them, the left differential wheel of the elbow and the upper differential wheel of the elbow constitute the first differential kinematic pair of the elbow, and the right differential wheel of the elbow and the upper differential wheel of the elbow constitute the second differential kinematic pair of the elbow.

[0009] Furthermore, the drive wheel at the left differential end of the elbow is coaxial and fixedly connected to the left differential wheel of the elbow, and the drive wheel at the right differential end of the elbow is coaxial and fixedly connected to the right differential wheel of the elbow; the drive wheel at the left drive end of the elbow is coaxial and fixedly connected to the output end of the fourth drive source, and the drive wheel at the right drive end of the elbow is coaxial and fixedly connected to the output end of the fifth drive source.

[0010] Furthermore, a first coupling rope of the elbow and wrist and a second coupling rope of the elbow and wrist are connected between the differential wheel on the left side of the elbow and the differential wheel on the upper end of the elbow, one end of the rope ends of the first coupling rope of the elbow and wrist and the second coupling rope of the elbow and wrist are fixed on the differential wheel on the left side of the elbow, and the other end of the rope ends are fixed on the differential wheel on the upper end of the elbow; the first coupling rope of the elbow and wrist and the second coupling rope of the elbow and wrist confront each other and transmit power; a third coupling rope of the elbow and wrist and a fourth coupling rope of the elbow and wrist are connected between the differential wheel on the right side of the elbow and the differential wheel on the upper end of the elbow, and one end of the rope ends of the third coupling rope of the elbow and wrist and the fourth coupling rope of the elbow and wrist are fixed on the differential wheel on the left side of the elbow and the differential wheel on the upper end of the elbow The rope heads are fixed on the right differential wheel of the elbow, and the other rope heads are fixed on the differential wheel at the upper end of the elbow; the third coupling rope of the elbow and wrist and the fourth coupling rope of the elbow and wrist antagonize each other and transmit power; the driving wheel at the right driving end of the elbow and the driving wheel at the right differential end of the elbow are connected through the third driving rope of the elbow and wrist and the fourth driving rope of the elbow and wrist, one end of the rope heads of the third driving rope of the elbow and wrist and the fourth driving rope of the elbow and wrist are fixed on the driving wheel at the right driving end of the elbow, and the other end of the rope heads are fixed on the driving wheel at the right differential end of the elbow; the third driving rope of the elbow and wrist and the fourth driving rope of the elbow and wrist antagonize each other and transmit power.

[0011] Furthermore, the two-degree-of-freedom differential wrist joint includes a driving wheel at the left driving end of the wrist, a driving wheel at the right driving end of the wrist, a differential wheel at the left side of the wrist, a differential wheel at the right side of the wrist and a differential wheel at the upper end of the wrist; wherein the differential wheel at the left side of the wrist and the differential wheel at the upper end of the wrist constitute the first differential kinematic pair of the wrist, and the differential wheel at the right side of the wrist and the differential wheel at the upper end of the wrist constitute the second differential kinematic pair of the wrist.

[0012] Furthermore, the driving wheel at the left driving end of the wrist is coaxial with and fixedly connected to the output end of the sixth driving source, and the driving wheel at the right driving end of the wrist is coaxial with and fixedly connected to the output end of the seventh driving source.

[0013] Furthermore, the first driving rope of wrist 2 and wrist 3 and the second driving rope of wrist 2 and wrist 3 are connected between the driving wheel at the left driving end of the wrist and the differential wheel at the upper end of the wrist, and one end of the rope ends of the first driving rope of wrist 2 and wrist 3 and the second driving rope of wrist 2 and wrist 3 are fixed to the driving wheel at the left driving end of the wrist, and the other end of the rope ends are fixed to the differential wheel at the upper end of the wrist; the first driving rope of wrist 2 and wrist 3 and the second driving rope of wrist 2 and wrist 3 oppose each other and transmit power; the third driving rope of wrist 2 and wrist 3 and the fourth driving rope of wrist 2 and wrist 3 are connected between the driving wheel at the right driving end of the wrist and the differential wheel at the upper end of the wrist, and one end of the rope ends of the third driving rope of wrist 2 and wrist 3 and the fourth driving rope of wrist 2 and wrist 3 are fixed to the driving wheel at the right driving end of the wrist, and the other end of the rope ends are fixed to the differential wheel at the upper end of the wrist; the third driving rope of wrist 2 and wrist 3 and the fourth driving rope of wrist 2 and wrist 3 oppose each other and transmit power.

[0014] The beneficial effects of the present invention are as follows.

[0015] The high load-to-weight ratio rope-driven anthropomorphic agile robotic arm based on heterogeneous differential joints in the embodiment of the present invention utilizes the torque superposition principle of the differential mechanism to increase the output torque of a single joint without increasing the number of drive sources and the performance of the drive sources, thereby improving the load capacity; at the same time, the drive source is placed at the rear through the rope drive, thereby reducing the weight and inertia of the active part of the robotic arm, ultimately achieving the high load-to-weight ratio and agility goals of the robotic arm.

[0016] The robot has a total of 7 degrees of freedom. The robot configuration is SRS, which is used to simulate the human arm. It has a spherical shoulder joint and a spherical wrist joint, that is, the three joint axes of the shoulder and wrist are perpendicular to each other and intersect at one point. The shoulder adopts a three-degree-of-freedom differential joint, the elbow pitch movement and the wrist one rotation movement are realized by a two-degree-of-freedom differential mechanism, and the wrist two pitch movement and wrist three rotation movement are also realized by a two-degree-of-freedom differential mechanism. The three driving sources of the shoulder can be fixed to the base, the elbow and wrist one driving sources are placed on the first arm, and the wrist two and wrist three driving sources are placed on the second arm, thereby reducing the mass of the active part of the robot and improving the load capacity. The weight of the active part above the base of the robot is less than 7kg, the arm length is 1000mm, and the load is 12kg. Its load-to-weight ratio is far more than 1, and the terminal speed can reach 7m / s, which meets the effect of lighter, stronger and faster robot arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 is an overall schematic diagram of a high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to an embodiment of the present invention;

[0019] Figure 2 1 is a schematic structural diagram of a three-degree-of-freedom differential shoulder joint of a high-load-ratio rope-driven anthropomorphic agile manipulator based on a heterogeneous differential joint according to an embodiment of the present invention;

[0020] Figure 3 1 is a schematic structural diagram of a shoulder differential mechanism of a high load ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to an embodiment of the present invention;

[0021] Figure 4 Schematic diagram of a first differential kinematic pair, a second differential kinematic pair and a third differential kinematic pair of a three-degree-of-freedom differential shoulder joint according to an embodiment of the present invention;

[0022] Figure 5 Schematic diagram of cable winding at the driving end of a three-degree-of-freedom differential shoulder joint according to an embodiment of the present invention;

[0023] Figure 6 Schematic diagram of cable winding of a differential mechanism of a three-degree-of-freedom differential shoulder joint according to an embodiment of the present invention;

[0024] Figure 7 is a schematic structural diagram of a two-degree-of-freedom differential elbow and wrist joint according to an embodiment of the present invention;

[0025] Figure 8 is a schematic structural diagram of a two-degree-of-freedom differential wrist joint according to an embodiment of the present invention;

[0026] Fig. 9 Schematic diagram of the winding of the elbow and wrist joints according to an embodiment of the present invention.

[0027] Fig.10 It is a cross-sectional schematic diagram of a rope-driven three-degree-of-freedom differential shoulder joint according to an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 1. Base; 2. Three-degree-of-freedom differential shoulder joint; 3. First arm; 4. Two-degree-of-freedom differential elbow and wrist joint; 5. Second arm; 6. Two-degree-of-freedom differential wrist joint; 7. Driving source;

[0030] 21. Differential mechanism; 22. Rotating bracket; 23. Pitch bracket;

[0031] 201, first differential connecting shaft; 202, second differential connecting shaft; 211, first differential wheel ; 212, one and two differential wheels ; 213, one and three differential wheels ; 221, two-one differential ; 222, 22 differential wheel ; 223, second and third differential wheels ; 232, three-two differential wheel ; 233, three-three differential wheel ;

[0032] 401, drive wheel at the left drive end of the elbow; 402, drive wheel at the right drive end of the elbow; 411, differential wheel at the left side of the elbow; 412, differential wheel at the right side of the elbow; 413, differential wheel at the upper end of the elbow; 421, drive wheel at the left differential end of the elbow; 422, drive wheel at the right differential end of the elbow;

[0033] 501, steering pulley;

[0034] 601, driving wheel at the left driving end of the wrist; 602, driving wheel at the right driving end of the wrist; 611, differential wheel at the left side of the wrist; 612, differential wheel at the right side of the wrist; 613, differential wheel at the upper end of the wrist;

[0035] 71, first driving source; 72, second driving source; 73, third driving source; 74, fourth driving source; 75, fifth driving source; 76, sixth driving source; 77, seventh driving source;

[0036] 700, transmission line; 701, shoulder first drive rope; 702, shoulder second drive rope; 703, shoulder third drive rope; 704, shoulder fourth drive rope; 705, shoulder fifth drive rope; 706, shoulder sixth drive rope; 711, shoulder first coupling rope; 712, shoulder second coupling rope; 713, shoulder third coupling rope; 714, shoulder fourth coupling rope; 715, shoulder fifth coupling rope; 716, shoulder sixth coupling rope; 721, elbow and wrist first drive rope Rope; 722, elbow and wrist one second driving rope; 723, elbow and wrist one third driving rope; 724, elbow and wrist one fourth driving rope; 731, elbow and wrist one first coupling rope; 732, elbow and wrist one second coupling rope; 733, elbow and wrist one third coupling rope; 734, elbow and wrist one fourth coupling rope; 741, wrist two and wrist three first driving rope; 742, wrist two and wrist three second driving rope; 743, wrist two and wrist three third driving rope; 744, wrist two and wrist three fourth driving rope;

[0037] 810, first shoulder driving wheel; 811, first shoulder driven wheel; 820, second shoulder driving wheel; 821, second shoulder driven wheel; 830, third shoulder driving wheel; 831, third shoulder driven wheel;

[0038] 91, first rotary encoder; 91a, inner ring of the first rotary encoder; 91b, outer ring of the first rotary encoder; 92, second rotary encoder; 92a, inner ring of the second rotary encoder; 92b, outer ring of the second rotary encoder; 93, third rotary encoder; 93a, inner ring of the third rotary encoder; 93b, outer ring of the third rotary encoder. DETAILED DESCRIPTION

[0039] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0040] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature, or it may be indirectly fixed or connected to the other feature. In addition, the descriptions of up, down, left, right, top, bottom, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the drawings.

[0041] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and / or" used herein includes any combination of one or more related listed items.

[0042] It should be understood that, although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0043] See also Figures 1 to 9 The high load-ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints of the technical solution of the present invention comprises a base 1 connected in sequence, a three-degree-of-freedom differential shoulder joint 2 for performing shoulder one rotation movement, shoulder two pitch movement and shoulder three rotation movement, a first arm 3, a two-degree-of-freedom differential elbow and wrist joint 4 for performing elbow pitch movement and wrist one rotation movement, a second arm 5 and a two-degree-of-freedom differential wrist joint 6 for performing wrist two pitch movement and wrist three rotation movement, and a driving source 7 for providing power.

[0044] Reference Figure 1The high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints includes a base 1, a three-degree-of-freedom differential shoulder joint 2, a first arm 3, a two-degree-of-freedom differential elbow and wrist joint 4, a second arm 5 and a two-degree-of-freedom differential wrist joint 6, and a driving source 7 for providing power. The three-degree-of-freedom differential shoulder joint 2 is composed of a shoulder-one swivel joint, a shoulder-two pitch joint and a shoulder-three swivel joint, which can realize a total of three degrees of freedom. The shoulder-one swivel joint is connected to the base 1. One end of the first arm 3 is connected to the three-degree-of-freedom differential shoulder joint 2, and the other end is connected to the two-degree-of-freedom differential elbow and wrist joint 4. The two-degree-of-freedom differential elbow and wrist joint 4 has two degrees of freedom, realizing the pitch motion of the elbow and the rotation motion of the wrist. One end of the second arm 5 is connected to the two-degree-of-freedom differential elbow and wrist joint 4, and the other end is connected to the two-degree-of-freedom differential wrist joint 6. The two-degree-of-freedom differential wrist joint 6 has two degrees of freedom, realizing the pitch motion of wrist two and the rotation motion of wrist three.

[0045] The large-load anthropomorphic agile manipulator of the present invention adopts a differential heterogeneous joint design. With the help of the torque superposition effect of the differential mechanism, the output torque of a single joint is effectively increased without increasing the number of additional drive sources or improving the performance of the drive source, thereby enhancing its load-bearing capacity. At the same time, the drive source is placed at the rear through the rope drive technology, which reduces the weight and inertia of the active part of the manipulator, achieving a large load-to-weight ratio and high agility.

[0046] In some embodiments, the high load ratio rope-driven anthropomorphic agile robotic arm driving source 7 based on heterogeneous differential joints of the present invention includes a first driving source 71, a second driving source 72, a third driving source 73, a fourth driving source 74, a fifth driving source 75, a sixth driving source 76, and a seventh driving source 77.

[0047] See also Figure 2 and Figure 3 The first driving source 71, the second driving source 72 and the third driving source 73 are placed on the base 1. With the cooperation of the first driving source 71, the second driving source 72 and the third driving source 73, the torque is distributed to each joint of the shoulder through the transmission line 700, so as to realize the shoulder 1 rotational motion, shoulder 2 pitching motion and shoulder 3 rotational motion of the three-degree-of-freedom differential shoulder joint 2.

[0048] Reference Figure 7 The fourth driving source 74 and the fifth driving source 75 are fixed on the first arm 3. With the cooperation of the fourth driving source 74 and the fifth driving source 75, the torque is distributed to the elbow joint and the wrist-swivel joint through the transmission line 700, thereby realizing the elbow pitch motion and wrist-swivel motion of the two-degree-of-freedom differential elbow and wrist joint 4.

[0049] Reference Figure 8The sixth driving source 76 and the seventh driving source 77 are fixed on the second arm 5. With the cooperation of the sixth driving source 76 and the seventh driving source 77, the torque is distributed to the wrist 2 pitch joint and the wrist 3 rotation joint through the transmission line 700, thereby realizing the wrist 2 pitch motion and wrist 3 rotation motion of the two-degree-of-freedom differential wrist joint 6.

[0050] In some embodiments, see Figure 2 The three-degree-of-freedom differential shoulder joint 2 of the present invention includes a shoulder differential mechanism 21, a rotating bracket 22 and a pitch bracket 23. The rotating bracket 22 is placed above the base 1 and the two are connected by a bearing. The pitch bracket 23 is connected to the rotating bracket 22 by a bearing. The first differential connecting shaft 61 is fixedly connected to the rotating bracket 22, and the second differential connecting shaft 62 is fixedly connected to the pitch bracket 23.

[0051] Specifically, refer to Figure 4 The differential mechanism 21 includes 8 differential wheels, a first differential connecting shaft 201 and a second differential connecting shaft 202, wherein the 8 differential wheels are respectively 211, differential wheel one and two 212, one and three differential wheels 213, 21 differential 221, 22 differential 222, Second and Third Differential Wheels 223, three-two differential 232 and 33 differential gear 233.

[0052] See also Figures 2 to 4 The first driving source 71, the second driving source 72, and the third driving source 73 drive the differential wheels 211, differential wheel one and two 212, one and three differential wheels 213 rotations, and one differential wheel 211, differential wheel one and two 212 and 13 differential wheels 213 are connected in sequence along the first direction and are arranged coaxially. 221, 22 differential 222, Second and Third Differential Wheels 223 is arranged coaxially along the second direction. 232 and 33 differential gear 233 is arranged along the third direction concentric axis. The first direction, the second direction and the third direction correspond to Figure 4 The first direction J1, the second direction J2 and the third direction J3 intersect at one point in space.

[0053] Reference Figure 2 and Figure 4 , two-to-one differential 221, 22 differential 222, Second and Third Differential Wheels 223 is coaxially arranged with the first differential connecting shaft 201, wherein the second differential gear 221 is connected to one end of the first differential connecting shaft 61, and the second differential wheel 222 and second and third differential wheels 223 is connected to the other end of the first differential connecting shaft 61. 232 and 33 differential gear 233 are respectively fixedly connected to the two ends of the second differential connecting shaft 202. The first driving source 71, the second driving source 72, and the first driving source 73 are fixedly connected to the base 1. 221 is fixedly connected to the pitch bracket 23 .

[0054] Among them, the differential gear 211, 21 differential 221 constitutes the first differential motion pair of the shoulder, the first and second differential wheels 212, 2-2 differential 222 and 32 differential wheels 232 forms the second differential motion pair of the shoulder, one and three differential wheels 213, Second and Third Differential Wheels 223 and 33 differential gear 233 constitutes the third differential motion pair of the shoulder. The first driving source 71, the second driving source 72, and the third driving source 73 transmit power to the differential wheels respectively. 211, differential wheel one and two 212, differential wheel one and two 213, thereby driving the first differential motion pair of the shoulder, the second differential motion pair of the shoulder and the third differential motion pair of the shoulder to move, and realizing the independent controllability of the three-degree-of-freedom joint and the superposition of multiple driver output torques at the same joint through the cooperation between the differential motion pairs.

[0055] In an application embodiment, see Figure 2 The slewing bracket 22 is placed above the base 1 and connected through a bearing, the pitch bracket 23 is connected to the slewing bracket 22 through a bearing, the first differential connecting shaft 201 is fixedly connected to the slewing bracket 22, and the second differential connecting shaft 202 is connected to the pitch bracket 23 through a bearing.

[0056] See also Figure 2 and Figure 4 , one by one differential gear 211, differential wheel one and two 212, one and three differential wheels 213 adopts concentric shaft setting, one by one differential wheel 211 and one and two differential wheels 212 are connected and supported by bearings, and the first and second differential wheels 212 and 13 differential wheels 213 also adopts bearing connection support, one by one differential wheel 211, differential wheel one and two 212, one and three differential wheels 213 realizes positioning in the first direction J1 through the base 1 and the second differential connecting shaft 202. 222 and second and third differential wheels 223 is connected to the first differential connecting shaft 201 via a bearing to achieve positioning in the second direction J2.

[0057] It should be noted that in the high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints of the present invention, the rotation axes of the joints of the three-degree-of-freedom differential shoulder joint 2 intersect at one point. According to the three-degree-of-freedom differential principle, the power can be transmitted through the transmission line 700 by controlling the first drive source 71, the second drive source 72, and the third drive source 73, so that each joint can be independently controllable. The three-degree-of-freedom differential shoulder joint 2 of the present invention is based on the differential principle. The output torque of multiple drive sources is superimposed on the same joint through a rope, which can increase the output torque of a single joint without increasing the number of drive sources and the performance of the drive sources, thereby improving the load capacity.

[0058] Furthermore, the two-one differential The diameter of 221 is smaller than the 22 differential gear 222, 22 differential The diameter of 222 is smaller than the second and third differential wheels. 223.

[0059] In one embodiment, the shoulder differential mechanism 2 further includes a first shoulder driving wheel 810, a second shoulder driving wheel 820 and a third shoulder driving wheel 830, and a first shoulder driven wheel 811, a second shoulder driven wheel 821 and a third shoulder driven wheel 831. Specifically, the first shoulder driving wheel 810 and the first shoulder driven wheel 811 form a shoulder fourth differential motion pair, the second shoulder driving wheel 820 and the second shoulder driven wheel 821 form a shoulder fifth differential motion pair, and the third shoulder driving wheel 830 and the third shoulder driven wheel 831 form a shoulder sixth differential motion pair.

[0060] Specifically, see Figures 1 to 3 The first shoulder driving wheel 810 is mounted on the first driving source 71, and the first shoulder driven wheel 811 is coaxially fixed to the differential wheel 211, so that the first driving source 71 passes through the first shoulder driving wheel 810 and the differential wheel 211 drive two-one differential wheel 221 Movement.

[0061] Specifically, see Figures 1 to 3 The second shoulder driving wheel 820 is mounted on the second driving source 72, and the second shoulder driven wheel 821 is coaxially fixed to the first and second differential wheels. 212, so that the second driving source 72 passes through the second shoulder driving wheel 820 and the first and second differential wheels 212 drive two-two differential wheel 222 and 32 differential wheels 232 movement.

[0062] Specifically, see Figures 1 to 3 The third shoulder driving wheel 830 is mounted on the third driving source 73, and the third shoulder driven wheel 831 is coaxially fixed on the second differential wheel 221, so that the third driving source 73 passes through the third shoulder driving wheel 830 and the first three differential wheels 213 drives the second and third differential wheels 223 and 33 differential gear 233 movement.

[0063] It should be noted that each differential motion pair is connected by a belt, chain, gear or rope, so that the first drive source 71, the first drive source 71 and the third drive source 73 can transmit motion to the fourth differential motion pair, the fifth differential motion pair and the sixth differential motion pair respectively, and then drive the first differential motion pair, the second differential motion pair and the third differential motion pair to move respectively.

[0064] In an application embodiment, see Figures 2 to 5 The first coupling rope 711 and the second coupling rope 712 are wound around the differential gear in an "8" winding manner. 211 and 21 differential 221, and the two ends of each rope are fixed on two differential wheels, that is, the two ends of the first coupling rope 711 are respectively fixed to a differential wheel 211 and 21 differential 221 is fixedly connected, and the two ends of the second coupling rope 712 are respectively connected to the differential wheel 211 and 21 differential The third coupling rope 713 and the fourth coupling rope 714 are wound around the first and second differential wheels in an "8" winding manner. 212 and 22 differential wheels 222, and in the 22 differential 222 and 32 differential wheels 232, the "0" winding method is adopted, that is, the two ends of the third coupling rope 713 are respectively connected to the first and second differential wheels. 212 and 32 differential wheels 232 is fixedly connected, and the middle part of the third coupling rope 713 passes around the second differential wheel 222 and the steering pulley, and the ends of the fourth coupling rope 714 are respectively connected to the first and second differential wheels 212 and 32 differential wheels 232 is fixedly connected, and the middle part of the fourth coupling rope 714 passes around the second differential wheel 222 and another steering pulley, wherein the third coupling rope 713 and the fourth coupling rope 714 are respectively arranged on the opposite sides of each differential wheel of the linkage. The fifth coupling rope 715 and the sixth coupling rope 716 are wound around the first and third differential wheels in an "8" winding manner. 213 and second and third differential wheels 223, second and third differential wheels 223 and 33 differential gear 233 are also wound in an "8" winding manner, that is, the ends of the fifth coupling rope 715 are respectively connected to the first and third differential wheels. 213 and 33 differential wheels 233 is fixedly connected, and the middle of the fifth coupling rope 715 passes around the second and third differential wheels 223, and the ends of the sixth coupling rope 716 are respectively connected to the first and third differential wheels. 213 and 33 differential wheels 233 is fixedly connected, and the middle of the sixth coupling rope 716 passes around the second and third differential wheels 223, wherein the fifth coupling rope 715 and the sixth coupling rope 716 are respectively arranged on opposite sides of each differential wheel of the linkage. The rope winding method completes the power transmission of adjacent differential wheels, thereby allowing the first joint rotation motion, the second joint pitch motion and the three-joint rotation motion to be generated through the first differential motion pair, the second differential motion pair and the third differential motion pair.

[0065] In an application embodiment, see Figure 2 and Figure 4 and Figure 6The first drive rope 701 and the second drive rope 702 are wound between the first drive source end drive wheel 71 and the first differential end drive wheel 81 in a "0" winding manner, that is, the two ends of the first drive rope 701 are fixedly connected to the first drive source end drive wheel 71 and the first differential end drive wheel 81, respectively, and the two ends of the second drive rope 702 are fixedly connected to the first drive source end drive wheel 71 and the first differential end drive wheel 81. The third drive rope 703 and the fourth drive rope 704 are wound between the second drive source end drive wheel 72 and the second differential end drive wheel 82 in a "0" winding manner, that is, the two ends of the third drive rope 703 are fixedly connected to the second drive source end drive wheel 72 and the second differential end drive wheel 82, respectively, and the fourth drive rope 704 is fixedly connected to the second drive source end drive wheel 72 and the second differential end drive wheel 82, respectively. The fifth drive rope 705 and the sixth drive rope 706 are wound between the third drive source end drive wheel 73 and the third differential end drive wheel 83 in a "0" winding manner, that is, the rope ends at both ends of the fifth drive rope 705 are respectively fixedly connected to the third drive source end drive wheel 73 and the third differential end drive wheel 83, and the rope ends at both ends of the sixth drive rope 706 are respectively fixedly connected to the third drive source end drive wheel 73 and the third differential end drive wheel 83. The required transmission ratio is ensured by changing the diameter between the corresponding drive wheels, and the drive rope is wound around the drive wheel with a spiral line to ensure that the rotation range requirements of the joint can be met. The first differential drive source 51, the second differential drive source 52, and the third differential drive source 53 respectively drive the first drive source end drive wheel 71, the second drive source end drive wheel 72, and the third drive source end drive wheel 73 fixed on the drive source to rotate, and transmit power to the first differential wheel 211, the first differential wheel 212, and the first differential wheel 213 through the above-mentioned drive ropes to make them move, thereby driving the first differential motion pair, the second differential motion pair, and the third differential motion pair to move.

[0066] It should be noted that each differential motion pair is connected by a belt, chain, gear or rope, so that the first differential drive source 51, the second differential drive source 52 and the third differential drive source 53 can transmit motion to the fourth differential motion pair, the fifth differential motion pair and the sixth differential motion pair respectively, and then drive the first differential motion pair, the second differential motion pair and the third differential motion pair to move respectively. Further, the differential motion pairs are connected by ropes to transmit power, and the rope winding method can be an "8" rope winding method or a "0" rope winding method.

[0067] In some embodiments, see Figure 7The two-degree-of-freedom differential elbow and wrist joint 4 includes a left differential wheel 411 of the elbow, a right differential wheel 412 of the elbow, an upper differential wheel 413 of the elbow, a left differential end drive wheel 421 of the elbow, and a right differential end drive wheel 422 of the elbow. The left differential wheel 411 of the elbow and the upper differential wheel 413 of the elbow form a first differential kinematic pair of the elbow, and the right differential wheel 412 of the elbow and the upper differential wheel 413 of the elbow form a second differential kinematic pair of the elbow.

[0068] The drive wheel 421 at the left differential end of the elbow is coaxial and fixed with the left differential wheel 411 of the elbow, and the drive wheel 422 at the right differential end of the elbow is coaxial and fixed with the right differential wheel 412 of the elbow. The drive wheel 401 at the left drive end of the elbow is coaxial and fixed with the output end of the fourth drive source 74, and the drive wheel 402 at the right drive end of the elbow is coaxial and fixed with the output end of the fifth drive source 75.

[0069] Specifically, the fourth driving source 74 drives the drive wheel 401 at the left driving end of the elbow to rotate, transmits power through the transmission line 700, drives the drive wheel 421 at the left differential end of the elbow to rotate, thereby driving the first differential motion pair of the elbow to move. The fifth driving source 75 drives the drive wheel 402 at the right driving end of the elbow to rotate, transmits power through the transmission line 700, drives the drive wheel 422 at the right differential end of the elbow to rotate, thereby driving the second differential motion pair of the elbow to move. Through the mutual cooperation of the first differential motion pair of the elbow and the second differential motion pair of the elbow, the pitch motion of the elbow and the rotation motion of the wrist are realized.

[0070] Reference Figure 7 and Fig. 9 The left differential wheel 411 of the elbow is connected to the upper differential wheel 413 of the elbow by two coupling ropes, namely the first coupling rope 731 of the elbow and wrist and the second coupling rope 732 of the elbow and wrist. One end of each coupling rope is fixed to the left differential wheel 411 of the elbow, and the other end is fixed to the upper differential wheel 413 of the elbow. The two coupling ropes confront each other and transmit power.

[0071] Reference Figure 7 and Fig. 9 The right side differential wheel 412 of the elbow is connected to the upper end differential wheel 413 of the elbow by two coupling ropes, namely the third coupling rope 733 of the elbow and wrist and the fourth coupling rope 734 of the elbow and wrist. One end of each coupling rope is fixed on the right side differential wheel 412 of the elbow, and the other end is fixed on the upper end differential wheel 413 of the elbow. The two coupling ropes confront each other and transmit power.

[0072] Reference Figure 7 and Fig. 9The drive wheel 402 at the right drive end of the elbow and the drive wheel 422 at the right differential end of the elbow are connected by two drive ropes, namely the third drive rope 723 of the elbow and wrist and the fourth drive rope 724 of the elbow and wrist. One end of each drive rope is fixed on the drive wheel 402 at the right drive end of the elbow, and the other end is fixed on the drive wheel 422 at the right differential end of the elbow. The two drive ropes confront each other and transmit power.

[0073] In some embodiments, see Figure 8 The two-degree-of-freedom differential wrist joint 6 includes a driving wheel 601 at the left driving end of the wrist, a driving wheel 602 at the right driving end of the wrist, a differential wheel 611 at the left wrist, a differential wheel 612 at the right wrist, and a differential wheel 613 at the upper end of the wrist. The differential wheel 611 at the left wrist and the differential wheel 613 at the upper end of the wrist constitute the first differential kinematic pair of the wrist, and the differential wheel 612 at the right wrist and the differential wheel 613 at the upper end of the wrist constitute the second differential kinematic pair of the wrist.

[0074] See also Figure 8 and Fig. 9 The driving wheel 601 at the left driving end of the wrist is coaxial with the output end of the sixth driving source 76 and fixed together, and the driving wheel 602 at the right driving end of the wrist is coaxial with the output end of the seventh driving source 77 and fixed together. Specifically, the sixth driving source 76 drives the driving wheel 601 at the left driving end of the wrist to rotate, transmits power through the transmission line 700, and drives the first differential motion pair of the wrist to move. The seventh driving source 77 drives the driving wheel 602 at the right driving end of the wrist to rotate, transmits power through the transmission line 700, and drives the second differential motion pair of the wrist to move. Through the mutual cooperation of the first differential motion pair of the wrist and the second differential motion pair of the wrist, the pitch motion of the wrist 2 and the rotation motion of the wrist 3 are realized.

[0075] See also Figure 8 and Fig. 9 The driving wheel 601 at the left driving end of the wrist and the differential wheel 613 at the upper end of the wrist are connected by two driving ropes, namely the first driving rope 741 of wrist two and wrist three and the second driving rope 742 of wrist two and wrist three. One end of each driving rope is fixed on the driving wheel 601 at the left driving end of the wrist, and the other end is fixed on the differential wheel 613 at the upper end of the wrist. Both ropes are wrapped around the differential wheel 611 at the left side of the wrist for one circle, and then after changing direction through the steering pulley 501, they are wrapped around the differential wheel 613 at the upper end of the wrist. The two driving ropes confront each other and transmit power.

[0076] See also Figure 8 and Fig. 9The driving wheel 602 at the right driving end of the wrist and the differential wheel 613 at the upper end of the wrist are connected by two driving ropes, namely the third driving rope 743 of wrist two and wrist three and the fourth driving rope 744 of wrist two and wrist three. One end of each driving rope is fixed on the driving wheel 602 at the right driving end of the wrist, and the other end is fixed on the differential wheel 613 at the upper end of the wrist. Both ropes are wrapped around the differential wheel 612 at the right side of the wrist for one circle, and then after changing direction through the steering pulley 501, they are wrapped around the differential wheel 613 at the upper end of the wrist. The two driving ropes confront each other and transmit power.

[0077] It should be noted that the transmission line 700 of the present invention can be any one of a rope, a chain and a synchronous belt, and the purpose of the cooperation between the first differential kinematic pair of the shoulder, the second differential kinematic pair of the shoulder and the third differential kinematic pair of the shoulder is to achieve that the torque can be superimposed at any joint and offset each other at other joints, so the first differential kinematic pair of the shoulder, the second differential kinematic pair of the shoulder and the third differential kinematic pair of the shoulder can be replaced by a kinematic pair consisting of a bevel gear set, a spur gear set and a synchronous belt. Furthermore, the purpose of the cooperation between the first differential kinematic pair of the wrist, the second differential kinematic pair of the wrist and the third differential kinematic pair of the wrist is also to achieve that the torque can be superimposed at any joint and offset each other at other joints, and can be replaced by a kinematic pair consisting of a bevel gear set, a spur gear set and a synchronous belt.

[0078] In one embodiment, the differential mechanism 2 further includes a first rotary encoder 91 , a second rotary encoder 92 , and a third rotary encoder 93 for measuring the rotation angle and angular velocity of each joint.

[0079] See also Figure 1 and Fig.10 The first rotary encoder 91 includes an inner ring 91a of the first rotary encoder and an outer ring 91b of the first rotary encoder. The inner ring 91a of the first rotary encoder is fixedly sleeved on one end of the first differential connecting shaft 61, and the outer ring 91b of the first rotary encoder is fixedly connected to the base 1, so that the first rotary encoder 91 is used to measure the angle and angular velocity of the rotational motion of the first joint.

[0080] See also Figure 1 and Fig.10 The second rotary encoder 92 includes an inner ring 92a of the second rotary encoder and an outer ring 92b of the second rotary encoder. The inner ring 92a of the second rotary encoder is fixedly sleeved on one end of the first differential connecting shaft 61, and the outer ring 92b of the second rotary encoder is fixedly connected to the pitch bracket 4, so that the second rotary encoder 92 is used to measure the angle and angular velocity of the pitch motion of the second joint.

[0081] See also Figure 1 and Fig.10The third rotary encoder 93 includes an inner ring 93a of the third rotary encoder and an outer ring 93b of the third rotary encoder. The inner ring 93a of the third rotary encoder is fixedly sleeved on one end of the second differential connecting shaft 62, and the outer ring 93b of the third rotary encoder is fixedly connected to the pitch bracket 4, so that the third rotary encoder 93 is used to measure the angle and angular velocity of the rotational motion of the third joint.

[0082] In some embodiments, the three-degree-of-freedom differential shoulder joint 2 of the present invention is composed of a shoulder swivel joint 1, a shoulder pitch joint 2 and a shoulder swivel joint 3, which can achieve a total of three degrees of freedom.

[0083] Among them, the shoulder-first swivel joint is used as the first joint. The first joint swivel motion principle is: the second differential motion pair of the shoulder and the third differential motion pair of the shoulder cooperate to perform differential motion. When the first and third differential wheels are driven, 213 and 21 differential 221 are all around J1 axis. Figure 3 When rotating counterclockwise or clockwise, the three-two differential gear fixed on the same shaft 232 and 33 differential gear 233 in the opposite direction around the J3 axis see Figure 3 Rotation, thus producing about the J2 axis see Figure 3 The counterclockwise or clockwise pitch motion of the drive wheel When 211 rotates counterclockwise or clockwise around the J1 axis, a pitching motion in the clockwise or counterclockwise direction around the J2 axis is generated, and the pitching motion counteracts the pitching motion generated by the differential motion of the second differential motion pair of the shoulder and the third differential motion pair of the shoulder, thereby generating a rotational motion of the active part in the counterclockwise or clockwise direction around the J1 axis.

[0084] Among them, the shoulder second pitch joint is used as the second switch, and the pitch motion principle of the second joint is: the shoulder second differential motion pair and the shoulder third differential motion pair cooperate to perform differential motion, when driving the first and third differential wheels 213 and 21 differential When 221 rotates counterclockwise or clockwise around J1 axis, the three-two differential gear fixed on the same axis 232 and 33 differential gear 233 rotates in the opposite direction around the J3 axis, thereby generating a counterclockwise or clockwise pitch motion around the J2 axis. When 211 rotates clockwise or counterclockwise around the J1 axis, a pitching motion in the counterclockwise or clockwise direction around the J2 axis is generated. The pitching motion is superimposed on the pitching motion generated by the differential motion of the second differential motion pair and the third differential motion pair, thereby generating a pitching motion in the counterclockwise or clockwise direction around the J2 axis.

[0085] Among them, the shoulder three-revolving joint is the third joint, and its third joint rotation motion principle is: the second differential motion pair of the shoulder and the third differential motion pair of the shoulder cooperate to perform differential motion. 213 rotates counterclockwise or clockwise around J1 axis to drive the first and second differential wheels When 212 rotates clockwise or counterclockwise around the J1 axis, the three-two differential gear fixed on the same axis 232 and 33 differential gear 233 rotates clockwise and counterclockwise around the J3 axis in the same direction, thereby generating a clockwise or counterclockwise rotational motion around the J3 axis.

[0086] According to the kinematics of the drive source and the joint end: the first drive source 71 drives the differential wheel 211The rotation angle is , the input torque is The second driving source 72 drives the first and second differential wheels 212The rotation angle is , its output torque is The third driving source 73 drives a differential wheel 213The rotation angle is , its output torque is ; The rotation angles of the first joint, the second joint and the third joint are , and , the driving torques of the first joint, the second joint and the third joint are , and ; The positive direction of the joint and the driving source obeys the right-hand rule. Assume that the transmission ratio of the driving source-joint driving end is 1, and the diameter of the differential wheel around which the same coupling rope is wound is the same. Because each joint is connected to multiple driving sources, the total driving torque on the joint is the sum of the torques transmitted by multiple driving sources. At the same time, the total rotation angle of the driving source is the sum of the rotation angles of multiple joints, because each driving source is connected to multiple joints. According to the above differential principle, the positive kinematics of the driving source-joint end can be expressed as follows:

[0087]

[0088] Based on this, the inverse kinematics of the drive source-joint end is expressed as follows:

[0089]

[0090] The torque distribution of the driving source input torque at each joint is calculated as follows:

[0091]

[0092] According to the above formula, the peak torque of the driving source is , the transmission ratio of each link is 1. When the input torque of each driving source is as shown in Table 1, the maximum driving torque of the joint end can reach twice the peak torque of the motor.

[0093] Table 1 Relationship between driving source and input torque at joint end

[0094]

[0095] See also Figures 1 to 10 , which is described below with a specific embodiment.

[0096] The base 1 is a hollow structure, the first driving source 71, the second driving source 72, the third driving source 73, the differential wheel 211, differential wheel one and two 212 and 13 differential wheels 213 are arranged in the base 1, and a differential wheel 211, differential wheel one and two 212 and 13 differential wheels 213 are coaxially connected from bottom to top and can rotate independently. The first driving source 71, the second driving source 72, and the third driving source 73 are arranged on a differential wheel. 211, differential wheel one and two 212 and 13 differential wheels The first driving source 71, the second driving source 72, and the third driving source 73 drive the differential wheels through the transmission lines. 211, differential wheel one and two 212 and 13 differential wheels 213 rotation.

[0097] See also Figure 2 , Figure 4 and Fig.10 , one by one differential gear 211, differential wheel one and two 212 and 13 differential wheels 213 is a long cylindrical type, the lower side of the three differential wheels is set in the base 1, and the upper end of the three differential wheels is set between the two side plates of the slewing bracket 3, so that the differential wheels are connected one by one through the transmission line / coupling rope. 211 and 21 differential 221 transmission connection, first and second differential wheels 212 and 22 differential wheels 222 transmission connection and one-three differential wheels 213 and second and third differential wheels Transmission connection between 223.

[0098] The swivel bracket 3 is disposed above the base 1 and can rotate relative to the base 1 . The swivel bracket 3 includes a bottom plate and two side plates forming a U-shaped structure. The remaining six differential wheels are disposed between the two side plates of the swivel bracket 3 .

[0099] The first differential connecting shaft 61 is arranged horizontally and its two ends are respectively fixedly connected to the two side plates of the slewing bracket 3. 222 and second and third differential wheels 223 is rotatably connected, and the other end of the first differential connecting shaft 61 is connected to the second differential gear 221 is rotatably connected. The first differential connecting shaft 61 is connected to a differential wheel 211 interval setting.

[0100] Among them, see Figure 2 and Fig.10 The first differential connecting shaft 61 is a T-shaped structure, and its two sides are respectively fixedly connected to the two side plates of the slewing support 3, and one side is fixedly connected to the inner ring 91a of the first rotary encoder. The lower middle side of the first differential connecting shaft 61 is fixedly connected to the inner ring 92a of the second rotary encoder through an intermediate shaft. Specifically, the intermediate shaft is partially arranged in the base 1 and passes through the base 1. The lower end of the intermediate shaft is arranged on the lower side of the base. The upper end of the intermediate shaft protrudes from the upper side of the base to be fixedly connected to the lower middle side of the first differential connecting shaft 61. The inner ring 92a of the second rotary encoder is fixedly connected to the lower side of the intermediate shaft. 211, differential wheel one and two 212 and 13 differential wheels 213 are rotatably sleeved on the intermediate shaft, and the axis of the intermediate shaft is coaxially arranged with the first direction J1 axis.

[0101] The pitch bracket 4 is arranged on the upper side of the slewing bracket 3 and can rotate relative to the slewing bracket 3. The pitch bracket 4 includes a bottom plate and two side plates forming an inverted U-shaped structure. One side of the pitch bracket 4 is connected to the two-one differential wheel. 221 is fixedly connected, and the two side plates of the pitch bracket 4 are rotatably connected to the two ends of the first differential connecting shaft 61.

[0102] The second differential connecting shaft 61 is vertically arranged and can independently rotate through the bottom plate of the pitch bracket 4. The two ends of the second differential connecting shaft 61 are respectively connected to the three-two differential wheels. 232 and 33 differential gear 233 is fixedly connected, and the inner ring 93a of the third rotary encoder is arranged on the three-two differential wheel 232 and 33 differential gear 233 and is fixedly connected to the second differential connecting shaft 61. The second differential connecting shaft 61 rotatably passes through the bottom plate of the pitch bracket 4. The second differential connecting shaft 61 is spaced apart from the first differential connecting shaft 61.

[0103] Among them, the differential gear 211 and 21 differential 221 is linked by the transmission line 700 to form the first differential motion pair. 212, 2-2 differential 222 and 32 differential wheels 232 is linked by the transmission line 700 to form a second differential pair. 213, Second and Third Differential Wheels 223 and 33 differential wheels 233 are linked through the transmission line 700 to form a third differential motion pair.

[0104] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of protection of the present disclosure. All should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints, characterized in that: include: A base (1) connected in sequence, a three-degree-of-freedom differential shoulder joint (2) for performing shoulder one rotation movement, shoulder two pitching movement and shoulder three rotation movement, a first arm (3), a two-degree-of-freedom differential elbow and wrist joint (4) for performing elbow pitching movement and wrist one rotation movement, a second arm (5) and a two-degree-of-freedom differential wrist joint (6) for performing wrist two pitching movement and wrist three rotation movement, and a driving source (7) for providing power.

2. The high load-ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 1 is characterized in that: The driving source (7) comprises a first driving source (71), a second driving source (72), a third driving source (73), a fourth driving source (74), a fifth driving source (75), a sixth driving source (76), and a seventh driving source (77); The first driving source (71), the second driving source (72) and the third driving source (73) for driving the three-degree-of-freedom differential shoulder joint (2) are all fixed on the base (1); The fourth driving source (74) and the fifth driving source (75) for driving the two-degree-of-freedom differential elbow and wrist joint (4) are fixed on the first arm (3); The sixth driving source (76) and the seventh driving source (77) for driving the two-degree-of-freedom differential wrist joint (6) are fixed on the second arm (5).

3. The high load-ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 2 is characterized in that: The three-degree-of-freedom differential shoulder joint (2) is provided with a differential mechanism (21), a slewing bracket (22) and a pitch bracket (23) on the base (1); The differential mechanism (21) comprises a first differential connection shaft (201), a second differential connection shaft (202), and a differential wheel which is coaxially arranged in a first direction and can rotate independently. (211), differential gear one and two (212) and one-three differential wheels (213), and a two-one differential gear coaxially arranged along the second direction and coaxially connected to the first differential connecting shaft (201) (221), 22 differential (222) and second and third differential wheels (223), and a three-two differential gear coaxially arranged along the third direction and coaxially connected to the second differential connecting shaft (202) (232) and three-three differential gear (233); the first direction, the second direction and the third direction intersect at a point; the first differential connecting shaft (201) is fixedly connected to the slewing bracket (22); the two-one differential wheel (221) is fixedly connected to the pitch bracket (23); The first driving source (71), the second driving source (72) and the third driving source (73) are respectively used to drive the differential wheels. (211), the first and second differential wheels (212) and the one-three differential wheels (213) rotation; Wherein, the differential wheel (211) and the two-one differential wheel (221) constitutes the first differential motion pair, the first and second differential wheels (212), the two-two differential wheels (222) and the three-two differential wheel (232) constitutes a second differential motion pair, the first three differential wheels (213), the second and third differential wheels (223) and the three-three differential gear (233) constitutes a third differential motion pair, thereby allowing shoulder one rotation motion, shoulder two pitch motion and shoulder three rotation motion to be generated through the first differential motion pair, the second differential motion pair and the third differential motion pair.

4. The high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 2, characterized in that: The two-degree-of-freedom differential elbow and wrist joint (4) comprises a left differential wheel (411) of the elbow, a right differential wheel (412) of the elbow, an upper differential wheel (413) of the elbow, a left differential end drive wheel (421) of the elbow, and a right differential end drive wheel (422) of the elbow; The left differential wheel (411) of the elbow and the upper differential wheel (413) of the elbow form a first differential kinematic pair of the elbow, and the right differential wheel (412) of the elbow and the upper differential wheel (413) of the elbow form a second differential kinematic pair of the elbow.

5. The high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 4, characterized in that: The drive wheel (421) at the left differential end of the elbow is coaxial with and fixedly connected to the left differential wheel (411) of the elbow, and the drive wheel (422) at the right differential end of the elbow is coaxial with and fixedly connected to the right differential wheel (412) of the elbow; the drive wheel (401) at the left drive end of the elbow is coaxial with and fixedly connected to the output end of the fourth drive source (74), and the drive wheel (402) at the right drive end of the elbow is coaxial with and fixedly connected to the output end of the fifth drive source (75).

6. The high load-ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 4, characterized in that: A first coupling rope (731) of the elbow and wrist and a second coupling rope (732) of the elbow and wrist are connected between the left differential wheel (411) of the elbow and the upper differential wheel (413) of the elbow; one end of the rope ends of the first coupling rope (731) of the elbow and wrist and the second coupling rope (732) of the elbow and wrist are fixed to the left differential wheel (411) of the elbow, and the other end of the rope ends are fixed to the upper differential wheel (413) of the elbow; the first coupling rope (731) of the elbow and wrist and the second coupling rope (732) of the elbow and wrist oppose each other and transmit power; A third coupling rope (733) of the elbow and wrist and a fourth coupling rope (734) of the elbow and wrist are connected between the right differential wheel (412) of the elbow and the upper differential wheel (413) of the elbow; one end of the third coupling rope (733) of the elbow and wrist and the fourth coupling rope (734) of the elbow and wrist are fixed to the right differential wheel (412) of the elbow, and the other end of the rope is fixed to the upper differential wheel (413) of the elbow; the third coupling rope (733) of the elbow and wrist and the fourth coupling rope (734) of the elbow and wrist oppose each other and transmit power; The drive wheel (402) at the right drive end of the elbow and the drive wheel (422) at the right differential end of the elbow are connected via a third drive rope (723) at the elbow and wrist and a fourth drive rope (724) at the elbow and wrist; one end of the third drive rope (723) at the elbow and wrist and the fourth drive rope (724) at the elbow and wrist are fixed to the drive wheel (402) at the right drive end of the elbow, and the other end of the rope is fixed to the drive wheel (422) at the right differential end of the elbow; the third drive rope (723) at the elbow and wrist and the fourth drive rope (724) at the elbow and wrist oppose each other and transmit power.

7. The high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 2, characterized in that: The two-degree-of-freedom differential wrist joint (6) comprises a driving wheel (601) at the left driving end of the wrist, a driving wheel (602) at the right driving end of the wrist, a differential wheel (611) at the left side of the wrist, a differential wheel (612) at the right side of the wrist, and a differential wheel (613) at the upper end of the wrist; The left differential wheel (611) of the wrist and the upper differential wheel (613) of the wrist form a first differential motion pair of the wrist, and the right differential wheel (612) of the wrist and the upper differential wheel (613) of the wrist form a second differential motion pair of the wrist.

8. The high load-ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 7, characterized in that: The drive wheel (601) at the left drive end of the wrist is coaxial with and fixedly connected to the output end of the sixth drive source (76), and the drive wheel (602) at the right drive end of the wrist is coaxial with and fixedly connected to the output end of the seventh drive source (77).

9. The high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 7, characterized in that: A first driving rope (741) of wrist 2 and wrist 3 and a second driving rope (742) of wrist 2 and wrist 3 are connected between the driving wheel (601) at the driving end of the left side of the wrist and the differential wheel (613) at the upper end of the wrist. One end of the first driving rope (741) of wrist 2 and wrist 3 and the second driving rope (742) of wrist 2 and wrist 3 are fixed to the driving wheel (601) at the driving end of the left side of the wrist, and the other end of the rope is fixed to the differential wheel (613) at the upper end of the wrist. The first driving rope (741) of wrist 2 and wrist 3 and the second driving rope (742) of wrist 2 and wrist 3 oppose each other and transmit power. The third driving rope (743) of wrist 2 and wrist 3 and the fourth driving rope (744) of wrist 2 and wrist 3 are connected between the driving wheel (602) at the right driving end of the wrist and the differential wheel (613) at the upper end of the wrist. One end of the third driving rope (743) of wrist 2 and wrist 3 and the fourth driving rope (744) of wrist 2 and wrist 3 are fixed to the driving wheel (602) at the right driving end of the wrist, and the other end of the rope is fixed to the differential wheel (613) at the upper end of the wrist; the third driving rope (743) of wrist 2 and wrist 3 and the fourth driving rope (744) of wrist 2 and wrist 3 confront each other and transmit power.

10. The high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 3, characterized in that: The two-one differential The diameter of (221) is smaller than that of the second differential wheel (222), the second differential wheel The diameter of (222) is smaller than that of the second and third differential wheels. (223).

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