A high load-to-weight ratio cable-driven anthropomorphic agile robotic arm based on heterogeneous differential joints

Abstract

The present invention relates to a high load-to-weight ratio cable-driven anthropomorphic agile robotic arm based on heterogeneous differential joints, which includes a base connected in sequence, a three-degree-of-freedom differential shoulder joint for shoulder rotation movement, shoulder two pitching movement and shoulder three rotation movement, a first arm rod, a two-degree-of-freedom differential elbow and wrist joint for elbow pitching movement and wrist one rotation movement, a second arm rod, a two-degree-of-freedom differential wrist joint for wrist two pitching movement and wrist three rotation movement, and a drive source for providing power. The present invention can improve the load capacity and achieve the effects of seven degrees of freedom, large load-to-weight ratio and agility of the robotic arm.

Description

Technical Field

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

[0002] With the continuous in - depth research on robotic arm technology, the performance and application scenarios of robotic arms have been continuously expanded, and the types of robotic arms have become more refined. In order to meet the different requirements for robotic arm performance in different scenarios, many innovations have taken place in aspects such as the structure and driving method of robotic arms. Among them, the cable - driven rigid arm, as a new type of robotic arm, drives the joints by using a flexible medium such as a rope, which is one of the keys to improving the safety and human - machine interaction of robotic arms. Summary of the Invention

[0003] The present invention provides a high load - to - weight ratio cable - driven anthropomorphic agile robotic arm based on heterogeneous differential joints, aiming to solve at least one of the technical problems in the prior art. For this purpose, the present invention proposes a high load - to - weight ratio cable - driven anthropomorphic agile robotic arm based on heterogeneous differential joints, which can improve the load - carrying capacity and achieve the effects of seven degrees of freedom, large load - to - weight ratio and agility of the robotic arm.

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

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

[0006] Furthermore, the three - degree - of - freedom differential shoulder joint includes a differential mechanism, a rotary bracket, and a pitching bracket arranged on the base; the differential mechanism includes a first differential connecting shaft and a second differential connecting shaft, and a one - one differential wheel coaxially arranged along the first direction and capable of independent rotation and a one - two differential wheel and a one - three differential wheel , and a two-one differential wheel coaxially arranged along the second direction and coaxially connected to the first differential connection shaft , a two-two differential wheel and a two-three differential wheel , and a three-two differential wheel coaxially arranged along the third direction and coaxially connected to the second differential connection shaft and a three-three differential wheel , and first, second, and third differential drive sources respectively used to drive the one-one differential wheel , the one-two differential wheel and the one-three differential wheel to rotate; the first direction, the second direction, and the third direction intersect at a point; the first differential connection shaft is fixedly connected to the slewing bracket, and the two-one differential wheel is fixedly connected to the pitching bracket; wherein, the one-one differential wheel and the two-one differential wheel form a first differential kinematic pair, the one-two differential wheel , the two-two differential wheel and the three-two differential wheel form a second differential kinematic pair, the one-three differential wheel , the two-three differential wheel and the three-three differential wheel form a third differential kinematic pair, thereby allowing a first joint slewing motion, a second joint pitching motion, and a third joint slewing 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 elbow differential wheel, a right elbow differential wheel, an upper elbow differential wheel, a left elbow differential end drive wheel, and a right elbow differential end drive wheel;

[0008] wherein, the left elbow differential wheel and the upper elbow differential wheel form a first elbow differential kinematic pair, and the right elbow differential wheel and the upper elbow differential wheel form a second elbow differential kinematic pair.

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

[0010] Further, an elbow and wrist one first coupling rope and an elbow and wrist one second coupling rope are connected between the left differential wheel of the elbow and the upper differential wheel of the elbow. One end of the elbow and wrist one first coupling rope and the elbow and wrist one second coupling rope is fixed to the left differential wheel of the elbow, and the other end is fixed to the upper differential wheel of the elbow; the elbow and wrist one first coupling rope and the elbow and wrist one second coupling rope oppose each other and transmit power; an elbow and wrist one third coupling rope and an elbow and wrist one fourth coupling rope are connected between the right differential wheel of the elbow and the upper differential wheel of the elbow. One end of the elbow and wrist one third coupling rope and the elbow and wrist one fourth coupling rope is fixed to the right differential wheel of the elbow, and the other end is fixed to the upper differential wheel of the elbow; the elbow and wrist one third coupling rope and the elbow and wrist one fourth coupling rope oppose each other and transmit power; the right drive end drive wheel of the elbow and the right differential end drive wheel of the elbow are connected by an elbow and wrist one third drive rope and an elbow and wrist one fourth drive rope. One end of the elbow and wrist one third drive rope and the elbow and wrist one fourth drive rope is fixed to the right drive end drive wheel of the elbow, and the other end is fixed to the right differential end drive wheel of the elbow; the elbow and wrist one third drive rope and the elbow and wrist one fourth drive rope oppose each other and transmit power.

[0011] Further, the two-degree-of-freedom differential wrist joint includes a left drive end drive wheel of the wrist, a right drive end drive wheel of the wrist, a left differential wheel of the wrist, a right differential wheel of the wrist, and an upper differential wheel of the wrist; wherein, the left differential wheel of the wrist and the upper differential wheel of the wrist form a first differential kinematic pair of the wrist, and the right differential wheel of the wrist and the upper differential wheel of the wrist form a second differential kinematic pair of the wrist.

[0012] Further, the left drive end drive wheel of the wrist is coaxially and fixedly connected to the output end of the sixth drive source, and the right drive end drive wheel of the wrist is coaxially and fixedly connected to the output end of the seventh drive source.

[0013] Further, a first driving rope for the second and third wrists and a second driving rope for the second and third wrists 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. One end of each of the first driving rope for the second and third wrists and the second driving rope for the second and third wrists is fixed to the driving wheel at the left driving end of the wrist, and the other end of each is fixed to the differential wheel at the upper end of the wrist; the first driving rope for the second and third wrists and the second driving rope for the second and third wrists oppose each other and transmit power; a third driving rope for the second and third wrists and a fourth driving rope for the second and third wrists 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. One end of each of the third driving rope for the second and third wrists and the fourth driving rope for the second and third wrists is fixed to the driving wheel at the right driving end of the wrist, and the other end of each is fixed to the differential wheel at the upper end of the wrist; the third driving rope for the second and third wrists and the fourth driving rope for the second and third wrists oppose each other and transmit power.

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

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

[0016] The robotic arm has a total of 7 degrees of freedom, and the configuration of the robotic arm is SRS, which is used to simulate the human arm and has a spherical shoulder joint and a spherical wrist joint, that is, the three joint axes of the shoulder and the wrist are perpendicular to each other in pairs and intersect at one point. Among them, the shoulder uses a three-degree-of-freedom differential joint, the pitching motion of the elbow and the rotational motion of the first wrist are realized by a two-degree-of-freedom differential mechanism, and the pitching motion of the second wrist and the rotational motion of the third wrist are also realized by a two-degree-of-freedom differential mechanism. It can fix the three drive sources of the shoulder to the base, place the drive sources of the elbow and the first wrist on the first arm rod, and place the drive sources of the second wrist and the third wrist on the second arm rod, thereby reducing the mass of the moving part of the robotic arm and improving the load capacity. The weight of the moving part above the base of the robotic arm is less than 7 kg, the arm length is 1000 mm, the load is 12 kg, its load-to-weight ratio far exceeds 1, and the end speed can reach 7 m / s, meeting the effects of the robotic arm being lighter, stronger and faster. Description of the Drawings

[0017] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0018] Figure 1 is an overall schematic diagram of the high load-to-weight ratio cable-driven anthropomorphic agile robotic arm based on heterogeneous differential joints in the embodiment of the present invention;

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

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

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

[0022] Figure 5 It is a schematic diagram of the winding of the driving - end rope of a three - degree - of - freedom differential shoulder joint according to an embodiment of the present invention;

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

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

[0026] Figure 9 It is a schematic diagram of the winding of the elbow and wrist joints according to an embodiment of the present invention.

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

[0028] Explanation of reference numerals:

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

[0030] 21. Differential mechanism; 22. Rotary bracket; 23. Pitching bracket;

[0031] 201. First differential connecting shaft; 202. Second differential connecting shaft; 211. One - one differential wheel ; 212. One - two differential wheel ; 213. One - three differential wheel ; 221. Two - one differential wheel ; 222. Two - two differential wheel ; 223. Two - three differential wheel ; 232, Three-two differential wheel ; 233, Three-three differential wheel ;

[0032] 401, Left elbow drive end drive wheel; 402, Right elbow drive end drive wheel; 411, Left elbow differential wheel; 412, Right elbow differential wheel; 413, Upper elbow differential wheel; 421, Left elbow differential end drive wheel; 422, Right elbow differential end drive wheel;

[0033] 501, Steering pulley

[0034] 601, Left wrist drive end drive wheel; 602, Right wrist drive end drive wheel; 611 Left wrist differential wheel; 612, Right wrist differential wheel; 613, Upper wrist differential wheel;

[0035] 71, First drive source; 72, Second drive source; 73, Third drive source; 74, Fourth drive source; 75, Fifth drive source; 76, Sixth drive source; 77, Seventh drive source;

[0036] 700, Transmission line; 701, First shoulder drive rope; 702, Second shoulder drive rope; 703, Third shoulder drive rope; 704, Fourth shoulder drive rope; 705, Fifth shoulder drive rope; 706, Sixth shoulder drive rope; 711, First shoulder coupling rope; 712, Second shoulder coupling rope; 713, Third shoulder coupling rope; 714, Fourth shoulder coupling rope; 715, Fifth shoulder coupling rope; 716, Sixth shoulder coupling rope; 721, First elbow and wrist one drive rope; 722, Second elbow and wrist one drive rope; 723, Third elbow and wrist one drive rope; 724, Fourth elbow and wrist one drive rope; 731, First elbow and wrist one coupling rope; 732, Second elbow and wrist one coupling rope; 733, Third elbow and wrist one coupling rope; 734, Fourth elbow and wrist one coupling rope; 741, First wrist two and wrist three drive rope; 742, Second wrist two and wrist three drive rope; 743, Third wrist two and wrist three drive rope; 744, Fourth wrist two and wrist three drive rope;

[0037] 810, First shoulder drive wheel; 811, First shoulder driven wheel; 820, Second shoulder drive wheel; 821, Second shoulder driven wheel; 830, Third shoulder drive 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 implementation manners

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

[0040] It should be noted that, unless otherwise specified, when a certain feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. In addition, the up, down, left, right, top, bottom, etc. used in the present invention are only relative to the mutual 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 commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present specification are only for describing specific embodiments, rather than for limiting the present invention. The term "and / or" used herein includes any combination of one or more of the related listed items.

[0042] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various elements, 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 Figures 1 to 9 , for the high load-to-weight ratio cable-driven anthropomorphic agile robotic arm based on heterogeneous differential joints of the technical solution of the present invention, the high load-to-weight ratio cable-driven anthropomorphic agile robotic arm based on heterogeneous differential joints includes a base 1 connected in sequence, a three-degree-of-freedom differential shoulder joint 2 for shoulder one-rotation movement, shoulder two-pitching movement and shoulder three-rotation movement, a first arm rod 3, a two-degree-of-freedom differential elbow and wrist joint 4 for elbow-pitching movement and wrist one-rotation movement, a second arm rod 5, a two-degree-of-freedom differential wrist joint 6 for wrist two-pitching movement and wrist three-rotation movement, and a drive source 7 for providing power.

[0044] Refer to Figure 1, The high load - to - weight ratio cable - driven anthropomorphic agile robotic arm based on heterogeneous differential joints includes a base 1, a three - degree - of - freedom differential shoulder joint 2, a first arm rod 3, a two - degree - of - freedom differential elbow and wrist joint 4, a second arm rod 5, a two - degree - of - freedom differential wrist joint 6 connected in sequence, and a drive source 7 for providing power. The three - degree - of - freedom differential shoulder joint 2 is composed of a shoulder first - rotation joint, a shoulder second - pitch joint, and a shoulder third - rotation joint, which can achieve a total of three degrees of freedom. The shoulder first - rotation joint is connected to the base 1. One end of the first arm rod 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 to achieve the pitch motion of the elbow and the rotation motion of the first wrist. One end of the second arm rod 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 to achieve the pitch motion of the second wrist and the rotation motion of the third wrist.

[0045] The large - load anthropomorphic agile robotic arm of the present invention adopts a differential heterogeneous joint design. By means of the torque superposition effect of the differential mechanism, without increasing the number of additional drive sources or improving the performance of the drive source, the output torque of a single joint is effectively increased, thereby enhancing its load - bearing capacity. At the same time, by using cable - driven technology to place the drive source at the rear, the weight and inertia of the moving part of the robotic arm are reduced, achieving the effects of a large load - to - weight ratio and high agility.

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

[0047] See Figure 2 and Figure 3 , The first drive source 71, the second drive source 72, and the third drive source 73 are placed on the base 1. Under the common cooperation of the first drive source 71, the second drive source 72, and the third drive source 73, torque is distributed to each shoulder joint through the transmission line 700 to achieve the shoulder first - rotation motion, shoulder second - pitch motion, and shoulder third - rotation motion of the three - degree - of - freedom differential shoulder joint 2.

[0048] Refer to Figure 7 , The fourth drive source 74 and the fifth drive source 75 are fixed on the first arm rod 3. Under the common cooperation of the fourth drive source 74 and the fifth drive source 75, torque is distributed to the elbow joint and the first - wrist rotation joint through the transmission line 700 to achieve the elbow - pitch motion and the first - wrist rotation motion of the two - degree - of - freedom differential elbow and wrist joint 4.

[0049] Refer to Figure 8, the sixth drive source 76 and the seventh drive source 77 are fixed to the second arm rod 5. Under the combined action of the sixth drive source 76 and the seventh drive source 77, the torque is distributed to the wrist two pitching joint and the wrist three slewing joint through the transmission line 700, realizing the wrist two pitching motion and the wrist three slewing motion of the two-degree-of-freedom differential wrist joint 6.

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

[0051] Specifically, referring to Figure 4 , the differential mechanism 21 includes 8 differential wheels, a first differential connecting shaft 201 and a second differential connecting shaft 202. Its 8 differential wheels are respectively a one-one differential wheel 211, a one-two differential wheel 212, a one-three differential wheel 213, a two-one differential wheel 221, a two-two differential wheel 222, a two-three differential wheel 223, a three-two differential wheel 232 and a three-three differential wheel 233.

[0052] Referring to Figures 2 to 4 , the first drive source 71, the second drive source 72, and the third drive source 73 respectively drive the one-one differential wheel 211, the one-two differential wheel 212, the one-three differential wheel 213 to rotate, and the one-one differential wheel 211, the one-two differential wheel 212 and the one-three differential wheel 213 are connected in sequence along the first direction and are coaxially arranged. The two-one differential wheel 221, the two-two differential wheel 222, the two-three differential wheel 223 extend along the second direction and are coaxially arranged. The three-two differential wheel 232 and the three-three differential wheel 233 are coaxially arranged along the third direction. Wherein the above-mentioned first direction, second direction, and third direction correspond to Figure 4 the J1 direction, J2 direction, and J3 direction, and the first direction J1, the second direction J2, and the third direction J3 intersect at a point in space.

[0053] Refer to Figure 2 and Figure 4 , the first differential wheel 221, the second differential wheel 222, the third differential wheel 223 is coaxially arranged with the first differential connection shaft 201. Among them, the first differential wheel 221 is connected to one end of the first differential connection shaft 61, and the second differential wheel 222 and the third differential wheel 223 are connected to the other end of the first differential connection shaft 61. The third second differential wheel 232 and the third third differential wheel 233 are respectively fixedly connected to both ends of the second differential connection shaft 202. The first drive source 71, the second drive source 72, and the first drive source 73 are fixedly connected to the base 1. The first differential wheel 221 is fixedly connected to the pitching bracket 23.

[0054] Among them, the first first differential wheel 211, the first differential wheel 221 form the first differential motion pair of the shoulder. The first second differential wheel 212, the second differential wheel 222 and the third second differential wheel 232 form the second differential motion pair of the shoulder. The first third differential wheel 213, the third differential wheel 223 and the third third differential wheel 233 form the third differential motion pair of the shoulder. The first drive source 71, the second drive source 72, and the third drive source 73 respectively transmit power to the first first differential wheel 211, the first second differential wheel 212, the first second differential wheel 213, and then drive 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. Through the cooperation between the differential motion pairs, the independent controllability of the three-degree-of-freedom joint is realized, and the output torques of multiple drivers are superimposed at the same joint.

[0055] In an application embodiment, refer to Figure 2 , the slewing bracket 22 is placed above the base 1 and connected by bearings. The pitching bracket 23 is connected to the slewing bracket 22 by bearings. The first differential connection shaft 201 is fixedly connected to the slewing bracket 22. The second differential connection shaft 202 is connected to the pitching bracket 23 by bearings.

[0056] Refer to Figure 2 and Figure 4 , the first first differential wheel 211, the first second differential wheel 212, one-three differential wheel 213 adopts a concentric shaft setting method, one-one differential wheel 211 and one-two differential wheel Between 212 and one-three differential wheel 212 and one-three differential wheel Between 213, one-one differential wheel 211, one-two differential wheel 212, one-three differential wheel 213 is positioned in the first direction J1 through the base 1 and the second differential connection shaft 202. Two-two differential wheel 222 and two-three differential wheel Between 223 and the first differential connection shaft 201 are connected by bearings to achieve positioning in the second direction J2.

[0057] It should be noted that in the high load-bearing ratio cable-driven anthropomorphic agile robotic arm 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, by controlling the first drive source 71, the second drive source 72, and the third drive source 73, power is transmitted through the transmission line 700 to achieve independent control of each joint. The three-degree-of-freedom differential shoulder joint 2 of the present invention is based on the differential principle. By superimposing the output torques of multiple drive sources on the same joint through ropes, the output torque of a single joint can be increased without increasing the number and performance of the drive sources, thereby improving the load capacity.

[0058] Furthermore, the diameter of the two-one differential wheel 221 is smaller than that of the two-two differential wheel 222, and the diameter of the two-two differential wheel 222 is smaller than that of the two-three differential wheel 223.

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

[0060] Specifically, referring to Figures 1 to 3 , the first shoulder drive wheel 810 is installed on the first drive source 71, and the first shoulder driven wheel 811 is coaxially fixed on the one-one differential wheel On the 211, so that the first driving source 71 drives the second differential wheel through the first shoulder driving wheel 810 and a differential wheel 211 drives the second differential wheel 221 to move.

[0061] Specifically, refer to Figures 1 to 3 , the second shoulder driving wheel 820 is installed on the second driving source 72, and the second shoulder driven wheel 821 is coaxially fixed on a differential wheel 212, so that the second driving source 72 drives the second differential wheel through the second shoulder driving wheel 820 and a differential wheel 212 drives the second differential wheel 222 and the third differential wheel 232 to move.

[0062] Specifically, refer to Figures 1 to 3 , the third shoulder driving wheel 830 is installed on the third driving source 73, and the third shoulder driven wheel 831 is coaxially fixed on the first differential wheel 221, so that the third driving source 73 drives the second differential wheel through the third shoulder driving wheel 830 and a differential wheel 213 drives the second differential wheel 223 and the third differential wheel 233 to move.

[0063] It should be noted that the various differential kinematic pairs are connected by belts, chains, gear teeth or ropes, so that the first driving source 71, the first driving source 71 and the third driving source 73 can respectively transmit the motion to the fourth differential kinematic pair, the fifth differential kinematic pair and the sixth differential kinematic pair, and then drive the first differential kinematic pair, the second differential kinematic pair and the third differential kinematic pair to move respectively.

[0064] In an application embodiment, refer to Figures 2 to 5 , the motion is transmitted inside each differential kinematic pair through a rope. The first coupling rope 711 and the second coupling rope 712 are wound in an "8" - shaped winding manner around the first differential wheel 211 and the first differential wheel 221, and both ends of each rope are respectively fixed on two differential wheels, that is, the two ends of the first coupling rope 711 are respectively fixedly connected to the first differential wheel 211 and the first differential wheel 221, and the two ends of the second coupling rope 712 are respectively fixedly connected to the first differential wheel 211 and the first differential wheel 221. The third coupling rope 713 and the fourth coupling rope 714 are wound in an "8" - shaped winding manner around the second differential wheel 212 and the second differential wheel Between 222 and the second differential wheel Between 222 and the third differential wheel Between 232, the "0" winding method is adopted, that is, the two ends of the third coupling rope 713 are respectively fixedly connected to the first differential wheel 212 and the third differential wheel 232, and the middle part of the third coupling rope 713 bypasses the second differential wheel 222 and the steering pulley, and the two ends of the fourth coupling rope 714 are respectively fixedly connected to the first differential wheel 212 and the third differential wheel 232, and the middle part of the fourth coupling rope 714 bypasses 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 linked differential wheel. The fifth coupling rope 715 and the sixth coupling rope 716 are wound in an "8" shape between the first and third differential wheels 213 and the second and third differential wheels 223, between the second and third differential wheels 223 and the third and third differential wheels 233 are also wound in an "8" shape, that is, the two ends of the fifth coupling rope 715 are respectively fixedly connected to the first and third differential wheels 213 and the third and third differential wheels 233, and the middle part of the fifth coupling rope 715 bypasses the second and third differential wheels 223, and the two ends of the sixth coupling rope 716 are respectively fixedly connected to the first and third differential wheels 213 and the third and third differential wheels 233, and the middle part of the sixth coupling rope 716 bypasses the second and third differential wheels 223, wherein the fifth coupling rope 715 and the sixth coupling rope 716 are respectively arranged on the opposite sides of each linked differential wheel. The above rope winding method completes the power transmission between adjacent differential wheels, thereby allowing the first joint rotation motion, the second joint pitching motion and the third joint rotation motion to be generated through the first differential pair, the second differential pair and the third differential pair.

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

[0066] It should be noted that the various differential kinematic pairs are connected by belts, chains, gear teeth or ropes, so that the first differential driving source 51, the second differential driving source 52, and the third differential driving source 53 can transmit the motion to the fourth differential kinematic pair, the fifth differential kinematic pair, and the sixth differential kinematic pair respectively, and then drive the first differential kinematic pair, the second differential kinematic pair, and the third differential kinematic pair to move respectively. Further, the power is transmitted between the differential kinematic pairs by ropes, and the rope winding method can be an "8" - shaped rope winding or a "0" - shaped rope winding method.

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

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

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

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

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

[0072] Refer to Figure 7 and Figure 9, between the driving wheel 402 at the right driving end of the elbow and the driving wheel 422 at the right differential end of the elbow, there are two driving ropes connecting them, namely the third driving rope 723 of the elbow and wrist one and the fourth driving rope 724 of the elbow and wrist one. One end of each driving rope is fixed on the driving wheel 402 at the right driving end of the elbow, and the other end is fixed on the driving wheel 422 at the right differential end of the elbow. The two driving ropes oppose each other and transmit power.

[0073] In some embodiments, referring to 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 of the wrist, a differential wheel 612 at the right of the wrist, and a differential wheel 613 at the upper end of the wrist. Among them, the differential wheel 611 at the left of the wrist and the differential wheel 613 at the upper end of the wrist form the first differential kinematic pair of the wrist, and the differential wheel 612 at the right of the wrist and the differential wheel 613 at the upper end of the wrist form the second differential kinematic pair of the wrist.

[0074] Referring to Figure 8 and Figure 9 , the driving wheel 601 at the left driving end of the wrist is coaxially fixed with the output end of the sixth driving source 76, and the driving wheel 602 at the right driving end of the wrist is coaxially fixed with the output end of the seventh driving source 77. 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 kinematic 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 kinematic pair of the wrist to move. Through the mutual cooperation of the first differential kinematic pair and the second differential kinematic pair of the wrist, the pitching motion of the second wrist and the rotational motion of the third wrist are realized.

[0075] Referring to Figure 8 and Figure 9 , between the driving wheel 601 at the left driving end of the wrist and the differential wheel 613 at the upper end of the wrist, there are two driving ropes connecting them, namely the first driving rope 741 of the second wrist and the third wrist and the second driving rope 742 of the second wrist and the third wrist. 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 wound around the differential wheel 611 at the left of the wrist for one circle, and then after changing the direction through the steering pulley 501, they are wound around the differential wheel 613 at the upper end of the wrist. The two driving ropes oppose each other and transmit power.

[0076] Referring to Figure 8 and Figure 9, between the drive wheel 602 at the right drive end of the wrist and the differential wheel 613 at the upper end of the wrist, there are two drive ropes connecting them, namely the third drive rope 743 for the second and third wrists and the fourth drive rope 744 for the second and third wrists. One end of each drive rope is fixed to the drive wheel 602 at the right drive end of the wrist, and the other end is fixed to the differential wheel 613 at the upper end of the wrist. Both ropes are wound around the differential wheel 612 on the right side of the wrist once, and then after changing the direction through the steering pulley 501, they are wound around the differential wheel 613 at the upper end of the wrist. The two drive ropes oppose 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. The cooperation between the first differential kinematic pair, the second differential kinematic pair, and the third differential kinematic pair of the shoulder aims to achieve that the torque can be superimposed at any joint and offset each other at other joints. Therefore, the first differential kinematic pair, the second differential kinematic pair, and the third differential kinematic pair of the shoulder can be replaced by kinematic pairs composed of bevel gear sets, spur gear sets, synchronous belts, etc. Further, for the cooperation between the first differential kinematic pair, the second differential kinematic pair, and the third differential kinematic pair of the wrist, the purpose 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 kinematic pairs composed of bevel gear sets, spur gear sets, synchronous belts, etc.

[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 Figure 1 and Figure 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. Among them, the inner ring 91a of the first rotary encoder is fixedly sleeved on one end of the first differential connection shaft 61, and the outer ring 91b of the first rotary encoder is fixedly connected to the base 1. Thus, the first rotary encoder 91 is used to measure the angle and angular velocity of the first joint's rotational movement.

[0080] See Figure 1 and Figure 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. Among them, the inner ring 92a of the second rotary encoder is fixedly sleeved on one end of the first differential connection shaft 61, and the outer ring 92b of the second rotary encoder is fixedly connected to the pitching bracket 4. Thus, the second rotary encoder 92 is used to measure the angle and angular velocity of the second joint's pitching movement.

[0081] See Figure 1 and Figure 10, the third rotary encoder 93 includes an inner ring 93a and an outer ring 93b of the third rotary encoder. Among them, the inner ring 93a of the third rotary encoder is fixedly sleeved on one end of the second differential connection shaft 62, and the outer ring 93b of the third rotary encoder is fixedly connected to the pitching bracket 4. Thus, the third rotary encoder 93 is used to measure the angle and angular velocity of the third joint's rotary motion.

[0082] In some embodiments, the three-degree-of-freedom differential shoulder joint 2 of the present invention is jointly composed of a first shoulder rotary joint, a second shoulder pitching joint, and a third shoulder rotary joint, and can achieve a total of three degrees of freedom.

[0083] Among them, the first shoulder rotary joint serves as the first joint, and its first joint rotary motion principle: 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-third differential wheel 213 and the second-first differential wheel 221 both rotate counterclockwise or clockwise around the J1 axis (see Figure 3 ), the third-second differential wheel 232 and the third-third differential wheel 233 fixed on the same shaft rotate in opposite directions around the J3 axis (see Figure 3 ), thereby generating a pitching motion in the counterclockwise or clockwise direction around the J2 axis (see Figure 3 ). When the first-first differential wheel 211 rotates counterclockwise or clockwise around the J1 axis, a pitching motion in the clockwise or counterclockwise direction around the J2 axis is generated. This pitching motion counteracts the pitching motion generated by the differential of the second differential motion pair and the third differential motion pair of the shoulder, thereby generating a rotary motion of the movable part in the counterclockwise or clockwise direction around the J1 axis.

[0084] Among them, the second shoulder pitching joint serves as the second joint, and its second joint pitching motion principle: 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-third differential wheel 213 and the second-first differential wheel 221 both rotate counterclockwise or clockwise around the J1 axis, the third-second differential wheel 232 and the third-third differential wheel 233 rotate in opposite directions around the J3 axis, thereby generating a pitching motion in the counterclockwise or clockwise direction around the J2 axis. When the first-first differential wheel 211 rotates clockwise or counterclockwise around the J1 axis, a pitching motion in the counterclockwise or clockwise direction around the J2 axis is generated. This pitching motion is superimposed on the pitching motion generated by the differential 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 - rotation joint serves as the third joint, and its principle of the third joint rotation movement: The second differential kinematic pair of the shoulder and the third differential kinematic pair of the shoulder cooperate to perform differential movement. When the first - third differential wheel 213 rotates counterclockwise or clockwise around the J1 axis, and the first - second differential wheel 212 rotates clockwise or counterclockwise around the J1 axis, the third - second differential wheel 232 and the third - third differential wheel 233 fixed on the same axis rotate clockwise or counterclockwise around the J3 axis in the same direction, thus generating a rotational movement in the clockwise or counterclockwise direction around the J3 axis.

[0086] Among them, according to the drive source - joint end kinematics: Let the first drive source 71 drive the first - first differential wheel 211 to rotate by an angle of , and its input torque is ; the second drive source 72 drives the first - second differential wheel 212 to rotate by an angle of , and its output torque is ; the third drive source 73 drives the first - third differential wheel 213 to rotate by an angle of , and its output torque is ; the rotation angles of the first joint, the second joint, and the third joint are respectively , and , and the driving torques of the first joint, the second joint, and the third joint are respectively , and ; the positive directions of the joints and the drive sources follow the right - hand rule. Assume that the transmission ratio of the drive source - joint drive end is 1, and the diameters of the differential wheels bypassed by the same coupling rope are the same. Since each joint is connected to multiple drive sources, the total driving torque on the joint is the sum of the torques transmitted by multiple drive sources. At the same time, the total rotation angle of the drive source is the sum of the rotation angles of multiple joints because each drive source is connected to multiple joints. According to the above differential principle, the forward kinematics of the drive source - joint end is expressed as follows:

[0087]

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

[0089]

[0090] Then the torque distribution calculation of the drive source input torque on each joint is as follows:

[0091]

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

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

[0094]

[0095] Refer to Figures 1 to 10 , and the following will be described 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, a first differential wheel 211, a second differential wheel 212, and a third differential wheel 213 are all arranged inside the base 1, and the first differential wheel 211, the second differential wheel 212, and the third differential wheel 213 are coaxial and sequentially 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 the periphery of the first differential wheel 211, the second differential wheel 212, and the third differential wheel 213. The first driving source 71, the second driving source 72, and the third driving source 73 respectively drive the first differential wheel 211, the second differential wheel 212, and the third differential wheel 213 to rotate through transmission lines.

[0097] Refer to Figure 2 , Figure 4 and Figure 10 , the first differential wheel 211, the second differential wheel 212, and the third differential wheel 213 are of a long cylindrical shape. The lower sides of the three differential wheels are arranged inside the base 1, and the upper ends of the three differential wheels are arranged between the two side plates of the rotary bracket 3 to enable transmission connection between the first differential wheel 211 and the first differential wheel of the second stage 221, transmission connection between the second differential wheel 212 and the second differential wheel of the second stage 222, and transmission connection between the third differential wheel 213 and the third differential wheel of the second stage 223 through transmission lines / coupling ropes.

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

[0099] The first differential connecting shaft 61 is horizontally arranged and its two ends are respectively fixedly connected to the two side plates of the slewing support 3. One end of the first differential connecting shaft 61 is rotatably connected to the second-two differential wheel 222 and the second-three differential wheel 223, and the other end of the first differential connecting shaft 61 is rotatably connected to the second-one differential wheel 221. The first differential connecting shaft 61 is arranged at an interval from the first-one differential wheel 211.

[0100] Among them, referring to Figure 2 and Figure 10 , the first differential connecting shaft 61 is of a T-shaped structure. Its two sides are respectively fixedly connected to the two side plates of the slewing support 3, and one of its sides is fixedly connected to the inner ring 91a of the first rotary encoder. The lower side of the middle part 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 inside 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, and the upper end of the intermediate shaft protrudes from the upper side of the base to be fixedly connected to the lower side of the middle part 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. The first-one differential wheel 211, the first-two differential wheel 212 and the first-three differential wheel 213 are all rotatably sleeved on the intermediate shaft, and the axis of the intermediate shaft is coaxially arranged with the first direction J1 axis.

[0101] The pitching support 4 is arranged on the upper side of the slewing support 3 and can rotate relative to the slewing support 3. The pitching support 4 includes a bottom plate and two side plates forming an inverted U-shaped structure. One of the side edges of the pitching support 4 is fixedly connected to the second-one differential wheel 221, and the two side plates of the pitching support 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 independently rotatably passes through the bottom plate of the pitching support 4. The two ends of the second differential connecting shaft 61 are respectively fixedly connected to the third-two differential wheel 232 and the third-three differential wheel 233. The inner ring 93a of the third rotary encoder is arranged on the third-two differential wheel 232 and the third-three differential wheel Between 233 and fixedly connected to the second differential connection shaft 61. The second differential connection shaft 61 rotatably passes through the bottom plate of the pitching bracket 4. The second differential connection shaft 61 is spaced from the first differential connection shaft 61.

[0103] Among them, one differential wheel 211 and two-one differential wheel 221 are linked by a transmission line 700 to form a first differential kinematic pair. One-two differential wheel 212, two-two differential wheel 222 and three-two differential wheel 232 are linked by a transmission line 700 to form a second differential kinematic pair. One-three differential wheel 213, two-three differential wheel 223 and three-three differential wheel 233 are linked by a transmission line 700 to form a third differential kinematic pair.

[0104] As described above, it is only the preferred embodiment of the present invention. The present invention is not limited to the above embodiments. As long as it achieves the technical effects of the present invention by the same means, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure shall be included within the scope of protection of the present disclosure. It shall fall within the scope of protection of the present invention. Within the scope of protection of the present invention, its technical solutions and / or implementation manners can have various different 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), a three-degree-of-freedom differential shoulder joint (2) for performing shoulder first rotation movement, shoulder second pitch movement and shoulder third rotation movement, a first arm (3), a two-degree-of-freedom differential elbow and wrist joint (4) for performing elbow pitch movement and wrist first rotation movement, a second arm (5) and a two-degree-of-freedom differential wrist joint (6) for performing wrist second pitch movement and wrist third rotation movement, and a driving source (7) for providing power, which are connected in sequence; Wherein, 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); 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.

2. The high load-ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 1 is 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.

3. The high load-ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 2 is 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).

4. The high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 3 is 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.

5. The high load-ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 1, 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.

6. The high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 5, 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).

7. The high load-to-weight ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 5, 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.

8. The high load-ratio rope-driven anthropomorphic agile manipulator based on heterogeneous differential joints according to claim 1, 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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