Rope-driven joint structure and robot

Abstract

The invention discloses a rope-driven joint structure and a robot. The rope-driven joint structure comprises a mounting part, a joint part, a moving part, a driving assembly and three driving ropes. The mounting part is mounted at the mounting end of the robot; the joint part is rotationally connected with the mounting part, and the rotating axial direction is the first axial direction; the moving part is rotationally connected with the joint part, the rotating axial direction is a second axial direction, and the second axial direction intersects with the first axial direction; the three driving ropes comprise two first driving ropes which are respectively connected with the mounting part and are respectively arranged along two sides of the first axial direction, and a second driving rope which is connected with the joint part and is respectively arranged along two sides of the second axial direction with the two first driving ropes; the driving assembly is installed on the moving part and connected with the three driving ropes, and the driving ropes can be independently tensioned and loosened. According to the scheme, flexible adjustment of the output end of the joint in two degrees of freedom is achieved through the three driving ropes, compared with the prior art, one driving rope is omitted, the driving number is reduced, and the compactness of the robot is improved conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of rope-driven joints, and in particular to a rope-driven joint structure and a robot. Background Art

[0002] The driving forms of humanoid robots include motor drive, hydraulic drive and rope drive. Among them, rope drive technology is a transmission method that uses ropes as transmission media, and achieves precise control of the output end mechanism or component by tightening or loosening the rope.

[0003] Publication No. CN112476477B discloses a rope-driven three-degree-of-freedom offset joint, which includes a three-degree-of-freedom driving device, each of which includes a driving motor, a motor bracket, a cross roller bearing, a bearing external pressure and a rope wheel, etc. Two transmission ropes are arranged on the edges of both sides of the rope wheel, and the two transmission ropes are wound around the capstan through a guide pulley group and a guide hole, respectively driving the positive and negative rotation directions of the capstan, thereby realizing flexible adjustment of the three degrees of freedom.

[0004] However, in this patent, two ropes are required to realize flexible adjustment of each degree of freedom, that is, 2n ropes are required to realize flexible adjustment of n degrees of freedom. The number of drives is relatively large and needs to be simplified. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a rope-driven joint structure to solve the technical problem that in the prior art, two ropes are needed to realize flexible adjustment of each degree of freedom, that is, 2n ropes are needed to realize flexible adjustment of n degrees of freedom, and the number of drives is relatively large, which needs to be simplified.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a rope-driven joint structure, comprising: A mounting part, used for mounting on a mounting end of the robot; A joint portion, rotatably connected to the mounting portion, and the axial direction of rotation is a first axial direction; A moving part, rotatably connected to the joint part, and the axial direction of rotation is a second axial direction, and the second axial direction intersects with the first axial direction; three driving ropes, including two first driving ropes respectively connected to the mounting parts and arranged along both sides of the first axial direction, and one second driving rope connected to the joint part and arranged along both sides of the second axial direction with the two first driving ropes; and The driving assembly is installed on the moving part and is respectively connected to the three driving ropes and can independently tighten and loosen each driving rope.

[0007] In some embodiments, the rope-driven joint structure further comprises two guide pulleys, which are rotatably mounted on the moving part, and whose axial directions coincide with the second axial direction; The two first driving ropes are respectively slidably pressed against the two guide pulleys.

[0008] In some embodiments, the joint portion includes a first joint arm and two second joint arms, the first joint arm is rotatably mounted on the mounting portion, and its two ends are respectively connected to the two second joint arms, the two second joint arms are located on the same side of the first joint arm, and one of them is connected to the second driving rope; The moving part comprises two moving arms, the two moving arms are rotatably connected to the two second joint arms respectively, and the two guide pulleys are rotatably mounted on the two moving arms respectively.

[0009] In some embodiments, the joint part also includes a first connecting arm, which is respectively connected to the two second joint arms and is located at one end of the second joint arm away from the first joint arm, and is rotatably installed on the mounting part, and the axial rotation of the first connecting arm coincides with the axial rotation of the first joint arm.

[0010] In some embodiments, the rope-driven joint structure further includes a first winding wheel and a second winding wheel, wherein the first winding wheel is fixedly mounted on the mounting portion, and its axial direction coincides with the first axial direction, and the second winding wheel is fixedly mounted on the joint portion, and its axial direction coincides with the second axial direction; The two first driving ropes are connected to the mounting portion via the first winding wheel, and the second driving rope is connected to the joint portion via the second winding wheel.

[0011] In some embodiments, the mounting portion includes a base, a rotating shaft and a rotation driving portion, wherein the base is used to be mounted on the mounting end of the robot, the rotating shaft is rotatably mounted on the base and rotatably connected to the joint portion, and the rotation driving portion is mounted on the mounting end and connected to the rotating shaft, and is used to drive the rotating shaft to rotate relative to the base; The axial direction in which the rotating shaft rotates relative to the base is a third axial direction, and the third axial direction, the first axial direction and the second axial direction respectively intersect with each other.

[0012] In some embodiments, the rotating drive unit includes two traction ropes and two traction drive units. The two traction ropes are respectively connected to the rotating shaft and are respectively arranged along both sides of the third axial direction. The two traction drive units are respectively installed at the mounting ends and connected to the traction ropes for tightening and loosening the connected traction ropes.

[0013] In some embodiments, the rotating shaft is provided with a mounting channel along the third axial direction, and the mounting channel runs through the rotating shaft.

[0014] In some embodiments, the rope-driven joint structure also includes three encoders, which are respectively installed on the rotating shaft, the joint part and the moving part, and are used to detect the rotation angle of the rotating shaft relative to the base, the rotation angle of the joint part relative to the rotating shaft, and the rotation angle of the moving part relative to the joint part.

[0015] In a second aspect, the present invention further discloses a robot, comprising the rope-driven joint structure as described in any one of the above items.

[0016] Compared with the prior art, in the rope-driven joint structure provided by the present invention, the first axial direction is the axial direction of the rotation of the joint part relative to the mounting part, which is defined as the Z axis, and the second axial direction is the axial direction of the rotation of the moving part relative to the joint part, which is defined as the X axis. The two driving ropes connecting the mounting part are defined as the first driving rope, and the one driving rope connecting the joint part is defined as the second driving rope. During the specific assembly, the mounting part of the rope-driven joint structure is connected to the mounting end of the robot, and the moving part is used as the output end of the robot, and the driving assembly is installed on the moving part.

[0017] Since the two first driving ropes are respectively extended along both sides of the Z axis, when the second driving rope is controlled to remain stationary and the two first driving ropes are controlled to cooperate in pulling and releasing, the output end of the joint can be rotated around the Z axis relative to the mounting part.

[0018] And because the second driving rope and the two first driving ropes are respectively extended and laid along both sides of the X-axis, when the two first driving ropes are controlled to be tightened or loosened synchronously, and the second driving rope is controlled to be loosened or tightened in coordination, the output end can be rotated relative to the joint part around the X-axis. In this way, the present solution can realize flexible adjustment of the output end of the joint in two degrees of freedom through three driving ropes, which reduces one driving rope compared to the prior art, simplifies the number of driving ropes, and facilitates improving the compactness of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of a rope-driven joint structure (the output mechanism is not fully shown) provided in an embodiment of the present invention; Figure 2 yes Figure 1 Partial schematic diagram of the middle rope drive joint structure; Figure 3 yes Figure 1 A partial schematic diagram of the middle rope drive joint structure from another angle; Figure 4 yes Figure 1 The rope-driven joint structure in FIG. 1 does not show a schematic diagram of installing the sleeve and the base; Figure 5 yes Figure 1 Schematic diagram of the middle joint; Figure 6 yes Figure 2 Schematic diagram of the rotating shaft and the rotating drive unit; Figure 7 yes Figure 1 Cross-sectional view of the middle rope drive joint structure; Figure 8 yes Figure 7 A cross-sectional view of part of the structure of the middle rope drive joint.

[0020] Description of reference numerals: 1. Mounting part; 11. Base; 12. Rotating shaft; 12a. Mounting channel; 13. Rotating driving part; 131. Traction rope; 132. Traction driving part; 14. Third winding wheel; 15. Mounting sleeve; 16. Mounting arm; 2. Joint part; 21. First joint arm; 22. Second joint arm; 23. First connecting arm; 3. Moving part; 31. Moving arm; 4. Output mechanism; 5. Driving rope; 51. First driving rope; 52. Second driving rope; 6. Driving assembly; 61. Joint driving part; 7. Guide pulley; 8. First winding wheel; 9. Second winding wheel; 10. First encoder; 20. Second encoder; 30. Third encoder. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0022] In order to solve the technical problem that in the prior art, two ropes are needed to realize flexible adjustment of each degree of freedom, that is, 2n ropes are needed to realize flexible adjustment of n degrees of freedom, and the number of drives is relatively large and needs to be simplified, the present invention provides a rope-driven joint structure, which can realize flexible adjustment of the output end of the joint in two degrees of freedom through three drive ropes. Compared with the prior art, one drive rope is less, the number of drives is simplified, and the compactness of the robot is improved.

[0023] It should be noted that the rope-driven joint structure described in the present invention is used for but not limited to robots, etc. For the convenience of explanation, in the present invention, only the application of the rope-driven joint structure to the robot is used as an example for explanation. The principles of applying the rope-driven joint structure to other types of equipment are essentially the same as those applied to robots, and will not be elaborated here.

[0024] See also Figures 1 to 3 , Figures 1 to 3It is a structural schematic diagram of a rope-driven joint structure in an embodiment of the present invention, the rope-driven joint structure comprises a mounting portion 1, a joint portion 2, a moving portion 3, a driving assembly 6 and three driving ropes 5; the mounting portion 1 is used to be mounted on the mounting end of the robot; the joint portion 2 is rotatably connected to the mounting portion 1, and the axial direction of rotation is a first axial direction; the moving portion 3 is rotatably connected to the joint portion 2, and the axial direction of rotation is a second axial direction, and the second axial direction intersects with the first axial direction; the three driving ropes 5 include two first driving ropes 51 respectively connected to the mounting portion 1 and arranged along both sides of the first axial direction, and one second driving rope 52 connected to the joint portion 2 and arranged along both sides of the second axial direction with the two first driving ropes 51; the driving assembly 6 is mounted on the moving portion 3, and is respectively connected to the three driving ropes 5, and can independently tighten and relax each driving rope 5.

[0025] In the rope-driven joint structure provided by the present invention, the first axial direction is the axial direction of the rotation of the joint part 2 relative to the mounting part 1, which is defined as the Z axis, and the second axial direction is the axial direction of the rotation of the moving part 3 relative to the joint part 2, which is defined as the X axis. The two driving ropes 5 connected to the mounting part 1 are defined as the first driving rope 51, and the driving rope 5 connected to the joint part 2 is defined as the second driving rope 52. During the specific assembly, the mounting part 1 of the rope-driven joint structure is connected to the mounting end of the robot, and the moving part 3 is used as the output end of the robot, and the driving assembly 6 is installed on the moving part 3.

[0026] Since the two first driving ropes 51 are respectively extended along both sides of the Z axis, when the second driving rope 52 is controlled to remain stationary and the two first driving ropes 51 are controlled to cooperate in pulling and releasing, the output end of the joint can be rotated around the Z axis relative to the mounting part 1.

[0027] And because the second driving rope 52 and the two first driving ropes 51 are respectively extended and laid along both sides of the X-axis, when the two first driving ropes 51 are controlled to be tightened or loosened synchronously, and the second driving rope 52 is controlled to be loosened or tightened in coordination, the output end can be rotated around the X-axis relative to the joint part 2. In this way, the present solution can realize flexible adjustment of the output end of the joint in two degrees of freedom through three driving ropes 5, and compared with the prior art, one less driving rope 5 is used, which simplifies the number of drives and facilitates improving the compactness of the robot.

[0028] It should be understood that the driving assembly 6 is respectively connected to two first driving ropes 51 and one second driving rope 52 , and can independently drive each of the first driving ropes 51 and the second driving rope 52 to be tightened and loosened.

[0029] In one embodiment, the joint assembly further includes two guide pulleys 7 , which are rotatably mounted on the moving part 3 , and whose axes coincide with the second axis; the two first driving ropes 51 slide and press against the two guide pulleys 7 , respectively.

[0030] In this embodiment, the two first driving ropes 51 are slid and pressed against the moving part 3 via two guide pulleys 7, which ensures that the moving part 3 can rotate around the X-axis when the two first driving ropes 51 cooperate with the second driving rope 52, and also ensures that when the output end rotates around the Z-axis through the two first driving ropes 51, the two first driving ropes 51 can slide smoothly relative to the moving part 3, thereby improving the compactness of the structure.

[0031] It should be noted that the joint part 2 and the moving part 3 can be provided in the form of a joint frame or a joint seat, and can also be provided in other forms.

[0032] In one embodiment, see Figures 3 to 5 The joint part 2 includes a first joint arm 21 and two second joint arms 22. The first joint arm 21 is rotatably mounted on the mounting part 1, and its two ends are respectively connected to the two second joint arms 22. The two second joint arms 22 are located on the same side of the first joint arm 21, and one of them is connected to the second driving rope 52; the moving part 3 includes two moving arms 31, the two moving arms 31 are respectively rotatably connected to the two second joint arms 22, and the two guide pulleys 7 are respectively rotatably mounted on the two moving arms 31.

[0033] In this embodiment, the first articulated arm 21 rotates around the Z axis relative to the mounting part 1 and is simultaneously connected to the two second articulated arms 22, while the moving arm 31 rotates around the X axis relative to the two second articulated arms 22 and rotatably mounts the two guide pulleys 7 on the two moving arms 31 to ensure the installation stability of the two guide pulleys 7.

[0034] Specifically, in this solution, the moving part 3 also includes an output mechanism 4, which is connected to the two moving arms 31 at the same time, and the driving assembly 6 is installed on the output mechanism 4. In addition, it should be noted that the installation end of the above-mentioned robot refers to the part of the robot used to support and install the rope-driven joint structure, and the output mechanism 4 of the robot refers to the end moving part or mechanism of the robot. Figure 1 The complete structure of the output mechanism 4 is not shown, and thus the specific installation relationship of the drive assembly 6 on the output mechanism 4 is not shown.

[0035] In one embodiment, the joint portion 2 also includes a first connecting arm 23, which is respectively connected to the two second joint arms 22, and is located at one end of the second joint arm 22 away from the first joint arm 21, and is rotatably mounted on the mounting portion 1, and the axial rotation of the first connecting arm 23 coincides with the axial rotation of the first joint arm 21.

[0036] In this embodiment, the two second connecting arms are connected at one end away from the first joint arm 21 through the first connecting arm 23, and the first connecting arm 23 is also rotatably installed on the mounting part 1, that is, the joint part 2 is set to be frame-shaped and installed symmetrically on the mounting part 1 at two points, thereby improving the structural strength of the joint part 2 and making the rotation of the joint part 2 relative to the mounting part 1 more stable.

[0037] Please note that Figure 6 The mounting portion 1 is provided with two mounting arms 16 corresponding to the frame-shaped joint portion 2, and the two mounting arms 16 are rotatably connected to the first joint arm 21 and the first connecting arm 23 respectively to form a cross frame assembly to improve the joint stability.

[0038] In one embodiment, the rope-driven joint structure also includes a first winding wheel 8 and a second winding wheel 9. The first winding wheel 8 is fixedly mounted on the mounting portion 1, and its axial direction coincides with the first axial direction. The second winding wheel 9 is fixedly mounted on the joint portion 2, and its axial direction coincides with the second axial direction. The two first driving ropes 51 are connected to the mounting portion 1 via the first winding wheel 8, and the second driving rope 52 is connected to the joint portion 2 via the second winding wheel 9.

[0039] In this embodiment, the axial direction of the first winding wheel 8 coincides with the Z axis, and the axial direction of the second winding wheel 9 coincides with the X axis, and the two first driving ropes 51 are respectively fixedly connected to the first winding wheel 8, and the second driving rope 52 is fixedly connected to the second winding wheel 9, so that the driving rope 5 can be guided by the winding wheels to prevent the driving rope 5 from deviating, thereby arranging the second driving rope 52 and the two first driving ropes 51 along the axial direction of the actuator rod at the output end, so that the driving rope 5 only performs pulling and releasing actions during the movement, without angular deviation and relative swing, and there is no need to reserve a large activity space, which is convenient for improving compactness.

[0040] Specifically, in this solution, the first winding wheel 8 is located between the two second articulated arms 22, and the guide pulley 7 is installed on one side of the moving arm 31 close to the other moving arm 31, so that the overall structure is more compact.

[0041] It should be noted that the mounting portion 1 may be a base 11 or a base frame, or may be in other forms.

[0042] In one embodiment, see Figure 7 and Figure 8 The mounting portion 1 includes a base 11, a rotating shaft 12 and a rotating driving portion 13. The base 11 is used to be mounted on the mounting end of the robot. The rotating shaft 12 is rotatably mounted on the base 11 and is rotatably connected to the joint portion 2. The rotating driving portion 13 is mounted on the mounting end and connected to the rotating shaft 12, and is used to drive the rotating shaft 12 to rotate relative to the base 11; wherein, the axial direction of rotation of the rotating shaft 12 relative to the base 11 is the third axial direction, and the third axial direction, the first axial direction and the second axial direction intersect respectively.

[0043] In this embodiment, the third axial direction is defined as the Y axis. Thus, the rotating shaft 12 can be driven to rotate relative to the base 11 around the Y axis by the rotating driving unit 13, so that the output end can be rotated around the X, Y and Z axes respectively, and three degrees of freedom can be flexibly adjusted. In addition, in this solution, the base 11 is composed of a mounting flange and a bearing seat. The two mounting arms 16 are spaced apart and connected to one end of the rotating shaft 12 away from the base 11. The first winding wheel 8 is detachably mounted on one mounting arm 16 by bolts.

[0044] It should be noted that the rotation driving part 13 can be a combination of a cylinder, a gear and a rack, can be directly driven by a motor, or can be in other forms.

[0045] In one embodiment, the rotating driving unit 13 includes two traction ropes 131 and two traction driving units 132. The two traction ropes 131 are respectively connected to the rotating shaft 12 and are respectively extended along both sides of the third axial direction. The two traction driving units 132 are respectively installed at the installation end and connected to the traction ropes 131 for tightening and loosening the connected traction ropes 131.

[0046] In this embodiment, the rotating shaft 12 is also driven by a rope, and a third winding wheel 14 is correspondingly arranged on the rotating shaft 12 for installation of the traction rope 131. It should be noted that the axial direction of the third winding wheel 14 coincides with the axial direction of the rotating shaft 12. In addition, the mounting portion 1 also includes a mounting sleeve 15, which is fixed on the base 11 and is sleeved on the outer periphery of the third winding wheel 14 at intervals, and has an escape opening connecting the inside and the outside, and the escape opening is for the traction rope 131 to pass through, so as to play a protective role.

[0047] Specifically, the mounting portion 1 further includes a third winding wheel 14, which is mounted on the rotating shaft 12, and its axial direction coincides with the third axial direction. Two traction ropes 131 are respectively connected to the third winding wheel 14, and are located on both sides of the third winding wheel 14, so as to guide the two traction ropes 131 through the third winding wheel 14.

[0048] In addition, it should be noted that the arrangement form of the drive assembly 6 and the traction drive unit 132 is not limited, as long as the corresponding ropes can be tightened and loosened independently. Specifically, the drive assembly 6 includes three independent joint drive units 61, and the three joint drive units 61 are all installed on the output mechanism 4 and are respectively connected to the three drive ropes 5 to drive the corresponding connected drive ropes 5 to tighten and loosen. The joint drive unit 61 and the traction drive unit 132 include but are not limited to artificial muscles, hydraulic rods, and winches.

[0049] In one embodiment, the rotating shaft 12 is provided with a mounting channel 12 a along the third axial direction, and the mounting channel 12 a passes through the rotating shaft 12 .

[0050] In this embodiment, a mounting channel 12a is provided on the rotating shaft 12, and when it cooperates with the joint part 2 and the moving part 3 arranged in a cross frame, the joint structure can be arranged as a fully hollow structure to facilitate the arrangement of the electro-hydraulic pipelines.

[0051] In one embodiment, the rope-driven joint structure also includes three encoders, which are respectively installed on the rotating shaft 12, the joint part 2 and the moving part 3, and are used to detect the rotation angle of the rotating shaft 12 relative to the base 11, the rotation angle of the joint part 2 relative to the rotating shaft 12 and the rotation angle of the moving part 3 relative to the joint part 2.

[0052] In this embodiment, three encoders are correspondingly arranged to monitor the angle adjustment of the output end in three degrees of freedom in real time, so that the posture detection of the output end is relatively convenient, and the drive rope 5 and the traction rope 131 can be linearly related to the joint angle, and the control logic is simple. For the convenience of illustration, the encoder used to monitor the rotation angle of the rotating shaft 12 relative to the base 11 is defined as the first encoder 10; the encoder used to monitor the rotation angle of the joint part 2 relative to the rotating shaft 12 is defined as the second encoder 20; and the encoder used to monitor the rotation angle of the moving part 3 relative to the joint part 2 is defined as the third encoder 30. The specific structure and working principle of the encoder are prior art and will not be elaborated here.

[0053] In addition, the present invention further provides a robot, the robot includes the rope-driven joint structure as described above. It should be noted that the detailed structure of the rope-driven joint structure of the robot can refer to the embodiment of the rope-driven joint structure, which will not be described in detail here; since the rope-driven joint structure is used in the robot of the present invention, the embodiment of the robot of the present invention includes all technical solutions of all embodiments of the rope-driven joint structure, and the technical effects achieved are also exactly the same, which will not be described in detail here.

[0054] In order to better understand the present invention, the following Figures 1 to 8 The technical solution of the present invention is described in detail: In this solution, the two traction drive parts 132 corresponding to the two traction ropes 131 are installed at the installation end of the robot, and one end of the two traction ropes 131 is respectively fixed in the rope groove of the third winding wheel 14, which can cooperate to pull the third winding wheel 14 to rotate forward and reverse, and then drive the rotating shaft 12 to rotate, so that the output end of the joint can rotate around the Y axis.

[0055] The joint driving parts 61 corresponding to the second driving rope 52 and the two first driving ropes 51 are arranged in the output mechanism 4 of the robot. The two first driving ropes 51 are respectively passed around the two guide pulleys 7 and fixed in the rope groove of the first winding wheel 8; the execution end of the second driving rope 52 is fixed in the rope groove of the second winding wheel 9. When the second driving rope 52 remains stationary and the two first driving ropes 51 cooperate to pull and release, the output end of the joint can rotate around the Z axis. When the two first driving ropes 51 are tightened or loosened synchronously and the second driving rope 52 cooperates to loosen or tighten, the output end of the joint can rotate around the X axis.

[0056] At the same time, three encoders detect the rotation angles of each level around the X, Y and Z axes respectively, realizing the position detection of the terminal output mechanism or components.

[0057] Thus, this scheme adopts a serial layout mode, which can realize the rotation along three spatial coordinate axes. The actuator is 5 ropes, 2 of which are arranged at the end of the base 11, responsible for realizing the primary rotational freedom. The other 3 are arranged at the moving end, responsible for realizing the latter two rotational freedoms.

[0058] The rope-driven joints arranged in series have a large active angle, simple driving logic, and accurate posture detection; and during the movement, the rope only performs pulling and releasing actions, and no angle deviation occurs, and there is no need to reserve a large active space. At the same time, the three driving ropes 5 at the end cooperate with the guide pulley 7 to control two degrees of freedom, with a simple structure, a small number of drives, a simple and reliable structure, and a compact layout.

[0059] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A rope-driven joint structure, characterized in that: include: A mounting part, used for mounting on a mounting end of the robot; A joint portion, rotatably connected to the mounting portion, and the axial direction of rotation is a first axial direction; A moving part, rotatably connected to the joint part, and the axial direction of rotation is a second axial direction, and the second axial direction intersects with the first axial direction; three driving ropes, including two first driving ropes respectively connected to the mounting parts and arranged along both sides of the first axial direction, and one second driving rope connected to the joint part and arranged along both sides of the second axial direction with the two first driving ropes; and The driving assembly is installed on the moving part and is respectively connected to the three driving ropes and can independently tighten and loosen each driving rope.

2. The rope-driven joint structure according to claim 1, characterized in that: The rope-driven joint structure further comprises two guide pulleys, which are rotatably mounted on the moving part, and whose axial directions coincide with the second axial direction; The two first driving ropes are respectively slidably pressed against the two guide pulleys.

3. The rope-driven joint structure according to claim 2, characterized in that: The joint part includes a first joint arm and two second joint arms, the first joint arm is rotatably mounted on the mounting part, and two ends of the first joint arm are respectively connected to the two second joint arms, the two second joint arms are located on the same side of the first joint arm, and one of the second joint arms is connected to the second driving rope; The moving part comprises two moving arms, the two moving arms are rotatably connected to the two second joint arms respectively, and the two guide pulleys are rotatably mounted on the two moving arms respectively.

4. The rope-driven joint structure according to claim 3, characterized in that: The joint part also includes a first connecting arm, which connects the two second joint arms respectively and is located at one end of the second joint arm away from the first joint arm, and is rotatably mounted on the mounting part, and the axial rotation of the first connecting arm coincides with the axial rotation of the first joint arm.

5. The rope-driven joint structure according to claim 1, characterized in that: The rope-driven joint structure further includes a first winding wheel and a second winding wheel, wherein the first winding wheel is fixedly mounted on the mounting portion, and its axial direction coincides with the first axial direction, and the second winding wheel is fixedly mounted on the joint portion, and its axial direction coincides with the second axial direction; The two first driving ropes are connected to the mounting portion via the first winding wheel, and the second driving rope is connected to the joint portion via the second winding wheel.

6. The rope-driven joint structure according to claim 1, characterized in that: The mounting portion includes a base, a rotating shaft and a rotating driving portion, wherein the base is used to be mounted on the mounting end of the robot, the rotating shaft is rotatably mounted on the base and rotatably connected to the joint portion, and the rotating driving portion is mounted on the mounting end and connected to the rotating shaft, and is used to drive the rotating shaft to rotate relative to the base; The axial direction in which the rotating shaft rotates relative to the base is a third axial direction, and the third axial direction, the first axial direction and the second axial direction respectively intersect with each other.

7. The rope-driven joint structure according to claim 6, characterized in that: The rotating drive unit includes two traction ropes and two traction drive units. The two traction ropes are respectively connected to the rotating shaft and are respectively arranged along both sides of the third axial direction. The two traction drive units are respectively installed at the installation ends and connected to the traction ropes for tightening and loosening the connected traction ropes.

8. The rope-driven joint structure according to claim 6, characterized in that: The rotating shaft is provided with a mounting channel along the third axial direction, and the mounting channel runs through the rotating shaft.

9. The rope-driven joint structure according to claim 6, characterized in that: The rope-driven joint structure also includes three encoders, which are respectively installed on the rotating shaft, the joint part and the moving part, and are used to detect the rotation angle of the rotating shaft relative to the base, the rotation angle of the joint part relative to the rotating shaft, and the rotation angle of the moving part relative to the joint part.

10. A robot, characterized in that: It comprises a rope-driven joint structure as described in any one of claims 1 to 9.

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