A variable stiffness joint module for a rope-driven manipulator with position-stiffness decoupling

Abstract

The present invention relates to a position-stiffness decoupled rope-driven manipulator variable-stiffness joint module. The position-stiffness decoupled rope-driven manipulator variable-stiffness joint module comprises: a joint angle input module; a stiffness adjustment module, one side of which is connected to the joint angle input module; a stiffness adjustment input module, which is disposed on the other side of the stiffness adjustment module and whose output is connected to the stiffness adjustment module; and an output module, which comprises an output gear and is connected to the joint angle input module via the output gear. This makes changes in joint stiffness independent of changes in joint angle, achieves joint position stiffness decoupling, and facilitates independent control of joint stiffness.

Description

Technical Field

[0001] The present invention relates to the field of robotic arms, and in particular to a position-stiffness-decoupled rope-driven robotic arm variable-stiffness joint module. Background Art

[0002] With the continuous development of robotics, adaptable, flexible, and compliant robotic arms are becoming increasingly important. Traditional industrial robotic arms, due to their high mass inertia and joint stiffness, are difficult to use in unstructured environments. To address these issues, cable-driven robotic arms and flexible joint technology have been a hot topic of research in recent years. Variable-stiffness joints are a key component of flexible joint technology, improving the system's compliance and adaptability in unstructured environments, thereby enhancing the flexibility and safety of robotic arm systems. Summary of the Invention

[0003] The present invention provides a position-stiffness decoupled rope-driven manipulator variable-stiffness joint module, aiming to solve at least one of the technical problems existing in the prior art.

[0004] The technical solution of the present invention is a variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling, comprising:

[0005] Joint angle input module;

[0006] a stiffness adjustment module, one side of which is connected to the joint angle input module;

[0007] a stiffness adjustment input module, the stiffness adjustment input module being arranged on the other side of the stiffness adjustment module, the output of the stiffness adjustment input module being connected to the stiffness adjustment module;

[0008] An output module includes an output gear, and the output module is connected to the joint angle input module via the output gear.

[0009] Furthermore, the joint angle input module includes a joint motor, a joint input shaft and a joint input disk connected in sequence, and the joint input shaft and the joint input disk are connected by bolts.

[0010] wherein the axis of the joint input shaft, the axis of the joint input disc, the axis of the joint motor, and the axis of the stiffness adjustment motor of the stiffness adjustment module are collinear;

[0011] The joint angle input module further includes a first moving portion and a second moving portion disposed between the joint input shaft and the joint input disk.

[0012] Furthermore, the first moving part includes a first slide rail mounting frame, a first slide rail, a clockwise input link, a first rack, a first roller mounting seat and a first roller, which are connected in sequence.

[0013] The joint input disc is connected to the first slide rail mounting bracket by bolts, the first slide rail mounting bracket is connected to the first slide rail by a slide rail, the first slide rail is connected to the clockwise input link by bolts, and the clockwise input link slides relative to the first slide rail mounting bracket; the first rack is connected to the clockwise input link by bolts, the first roller mounting seat is connected to the clockwise input link by bolts, and the first roller is connected to the first roller mounting seat by a plug bolt;

[0014] The second moving part includes a second slide rail mounting frame, a second slide rail, a counterclockwise input link, a second rack, a second roller mounting seat and a second roller, which are connected in sequence.

[0015] Among them, the second slide rail mounting bracket is connected to the second slide rail through a slide rail, the second slide rail is connected to the counterclockwise input link through a bolt, and the counterclockwise input link and the second slide rail mounting bracket slide relatively; the second rack is connected to the counterclockwise input link through a bolt, the second roller mounting seat is connected to the counterclockwise input link through a bolt, and the second roller is connected to the second roller mounting seat through a plug bolt; the first rack and the second rack are respectively engaged with the output gear of the output module.

[0016] Furthermore, the stiffness adjustment module includes a stiffness adjustment motor, a clockwise motion part, a counterclockwise motion part, a central frame, a spring and a limit ring, wherein:

[0017] The central frame is connected to the joint input shaft via a sliding sleeve, the axis of the spring, the axis of the limit ring and the axis of the joint input shaft are collinear, and both ends of the spring are fixed to the central frame and the limit ring respectively;

[0018] The clockwise motion part includes a clockwise input pressure plate, a clockwise input pressure plate link, and a clockwise input turbine connected in sequence. The clockwise input pressure plate and the clockwise input pressure plate link are connected by countersunk bolts. The clockwise input pressure plate link is connected to the central skeleton by a flange bearing. The clockwise input pressure plate and the clockwise input turbine rotate synchronously and are tangent to the first roller throughout the entire stroke of the clockwise input pressure plate.

[0019] The counterclockwise motion part includes a counterclockwise input pressure plate, a counterclockwise input pressure plate link and a counterclockwise input turbine connected in sequence, the counterclockwise input pressure plate and the counterclockwise input pressure plate link are connected by countersunk bolts, the counterclockwise input pressure plate link is connected to the central skeleton by a flange bearing, the counterclockwise input pressure plate and the counterclockwise input turbine rotate synchronously and are tangent to the second roller throughout the entire stroke of the counterclockwise input pressure plate.

[0020] Furthermore, the clockwise input pressure plate link is coaxial with and directly connected to the clockwise input turbine, and the counterclockwise input pressure plate link is coaxial with and directly connected to the counterclockwise input turbine; the clockwise input turbine and the counterclockwise input turbine rotate synchronously and in opposite directions under the drive of the worm of the stiffness adjustment input module.

[0021] Furthermore, the stiffness adjustment module also includes an encoder, a joint motor flange and an input shaft flange. The joint motor is installed on the joint motor flange by bolts. The joint motor flange and the input shaft flange are connected by bolts. The encoder magnetic ring is installed on the joint input shaft by a top screw.

[0022] Furthermore, the stiffness adjustment input module includes a stiffness adjustment motor flange, a stiffness adjustment motor output gear, a D-type shaft input gear, a worm D-type shaft, a worm and a D-type shaft sleeve.

[0023] The stiffness adjustment motor flange is connected to the stiffness adjustment motor of the stiffness adjustment module by bolts, the stiffness adjustment motor flange is connected to the stiffness adjustment motor output gear by a top screw, the stiffness adjustment motor output gear is connected to the joint input shaft of the joint angle input module by a bearing, and the D-shaped shaft input gear is installed on the joint input disk of the joint angle input module by a flange bearing;

[0024] The D-shaped shaft input gear, the worm D-shaped shaft, the worm and the D-shaped shaft sleeve are stacked and installed. The lower end of the worm D-shaped shaft is a round shaft. The worm D-shaped shaft is connected to the D-shaped shaft sleeve through a bearing. The axis of the worm cooperates with the clockwise input turbine and the counterclockwise input turbine of the stiffness adjustment module.

[0025] A D-shaped hole is provided in the middle of the worm, and the worm D-shaped shaft passes through the D-shaped hole of the worm.

[0026] Furthermore, the output module includes an output gear and an output housing, and the output gear is connected to the output housing by bolts; the output housing is also provided with a mounting hole for mounting an output disk for torque output and a groove for calibrating the output of the winding wheel at the base end of the rope-driven robot arm.

[0027] Furthermore, it also includes a base module, the base module including a stiffness adjustment motor mounting base connected to the stiffness adjustment module and a joint motor mounting base connected to the joint angle input module;

[0028] The stiffness adjustment motor of the stiffness adjustment module is mounted on the stiffness adjustment motor mounting base through bolts, and the input shaft flange of the stiffness adjustment module is mounted on the joint motor mounting base through a deep groove ball bearing.

[0029] Furthermore, the present invention also proposes a robotic arm, comprising the position-stiffness-decoupled rope-driven robotic arm variable-stiffness joint module.

[0030] The beneficial effects of the present invention are:

[0031] The variable stiffness joint module of the rope-driven manipulator with position stiffness decoupling adopts a wedge mechanism and a combination of an inclined plane and a roller to change the transmission ratio between the elastic force and the output torque by changing the inclination angle of the inclined plane. The transmission method of the worm gear as the stiffness adjustment has the advantages of compact structure, fast response, and self-locking capability. The transmission method of the wedge mechanism and the rack and pinion can make the change of joint stiffness independent of the change of joint angle, realize the decoupling of joint position stiffness, and facilitate independent control of joint stiffness. The offset arrangement of the stiffness adjustment axis realizes the coaxiality of the stiffness adjustment motor and the joint angle motor, thereby realizing input decoupling of the two, thereby reducing the joint rotational inertia and realizing modular design, that is, the variable stiffness joint module can be directly installed at the rear motor end of the rope-driven manipulator, which can reduce the mass and rotational inertia of the rope-driven manipulator arm. The theoretical range of the inclined plane stroke is 0° to 84°, which can realize a stiffness change range from 0 to 1400 N·m / rad, realizing a large variable stiffness range. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 The overall structure diagram of the variable stiffness joint module of the rope-driven robot arm with position stiffness decoupling.

[0033] Figure 2 Structural diagram of the variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling, with the outer shell removed.

[0034] Figure 3 Structural diagram of the joint angle input module and stiffness adjustment module in the variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling.

[0035] Figure 4 Structural diagram of the stiffness adjustment input module in the variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling.

[0036] Reference numerals: 100, joint angle input module; 110, joint motor; 120, joint input shaft; 130, joint input disk; 140, first moving part; 141, first slide rail mounting bracket; 142, first slide rail; 143, clockwise input link; 144, first rack; 145, first roller mounting seat; 146, first roller; 150, second moving part; 151, second slide rail mounting bracket; 152, second slide rail; 153, counterclockwise input link; 154, second rack; 155, second roller mounting seat; 156, second roller; 200, stiffness adjustment module; 210, stiffness adjustment motor; 220, clockwise motion unit; 221, clockwise input pressure plate; 222, clockwise input pressure plate link; 223, clockwise input turbine; 230, counterclockwise motion unit; 231, counterclockwise input pressure plate; 232, counterclockwise input pressure plate link; 233, counterclockwise input turbine; 240, encoder; 250, joint motor flange; 260, input shaft flange; 270. Center frame; 280. Spring; 290. Limiting ring; 300. Stiffness adjustment input module; 310. Stiffness adjustment motor flange; 320. Stiffness adjustment motor output gear; 330. D-type shaft input gear; 340. Worm D-type shaft; 350. Worm; 360. D-type shaft sleeve; 400. Output module; 410. Output gear; 500. Base module; 510. Stiffness adjustment motor mounting base; 520. Joint motor mounting base. DETAILED DESCRIPTION

[0037] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0038] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, terms such as "upper," "lower," "left," "right," "top," and "bottom" used in this disclosure are intended solely to describe the relative positions of the components of the disclosure as shown in the accompanying drawings.

[0039] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the related listed items.

[0040] It should be understood that although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element without departing from the scope of the present disclosure.

[0041] Reference Figures 1 to 4 In some embodiments, the technical solution of the present invention is a position-stiffness-decoupled rope-driven manipulator variable stiffness joint module, referring to Figure 1 The position-stiffness-decoupled rope-driven manipulator variable stiffness joint module includes:

[0042] Joint angle input module 100;

[0043] A stiffness adjustment module 200 , one side of which is connected to the joint angle input module 100 ;

[0044] A stiffness adjustment input module 300 , which is disposed on the other side of the stiffness adjustment module 200 , and an output of the stiffness adjustment input module 300 is connected to the stiffness adjustment module 200 ;

[0045] The output module 400 includes an output gear 410 . The output module 400 is connected to the joint angle input module 100 via the output gear 410 .

[0046] The beneficial effects of the present invention are:

[0047] The variable stiffness joint module of the rope-driven manipulator with position-stiffness decoupling adopts a wedge mechanism and a combination of an inclined plane and a roller to change the transmission ratio between the elastic force and the output torque by changing the inclination angle of the inclined plane. The worm gear 350 is used as a transmission method for stiffness adjustment, which has the advantages of compact structure, fast response, and self-locking capability. The transmission method of the wedge mechanism and the rack and pinion can theoretically make the change of joint stiffness independent of the change of joint angle, realize the decoupling of joint position stiffness, and facilitate independent control of joint stiffness. The offset arrangement of the stiffness adjustment axis realizes the coaxiality of the stiffness adjustment motor 210 and the joint angle motor, thereby realizing input decoupling of the two, thereby reducing the joint rotational inertia and realizing modular design. That is, the variable stiffness joint module can be directly installed at the rear motor end of the rope-driven manipulator, which can reduce the mass and rotational inertia of the rope-driven manipulator arm. The theoretical range of the inclined plane stroke is 0° to 84°, which can realize a stiffness change range of 0 to 1400 N·m / rad, realizing a large variable stiffness range.

[0048] Specifically, the joint angle input module 100 is installed at the center of the position-stiffness-decoupled cable-driven manipulator variable-stiffness joint module.

[0049] Further, refer to Figures 1 to 3 The joint angle input module 100 includes a joint motor 110, a joint input shaft 120 and a joint input disk 130 connected in sequence. The joint input shaft 120 and the joint input disk 130 are connected by bolts.

[0050] The axis of the joint input shaft 120 , the axis of the joint input disc 130 , the axis of the joint motor 110 , and the axis of the stiffness adjustment motor 210 of the stiffness adjustment module 200 are collinear;

[0051] The joint angle input module 100 further includes a first moving portion 140 and a second moving portion 150 disposed between the joint input shaft 120 and the joint input disk 130 .

[0052] Further, refer to Figure 2 The first moving part 140 includes a first slide rail mounting frame 141, a first slide rail 142, a clockwise input link 143, a first rack 144, a first roller mounting seat 145 and a first roller 146, which are connected in sequence.

[0053] The joint input disk 130 is connected to the first slide rail mounting bracket 141 via bolts, the first slide rail mounting bracket 141 is connected to the first slide rail 142 via slide rails, the first slide rail 142 is connected to the clockwise input link 143 via bolts, and the clockwise input link 143 slides relative to the first slide rail mounting bracket 141; the first rack 144 is connected to the clockwise input link 143 via bolts, the first roller mounting seat 145 is connected to the clockwise input link 143 via bolts, and the first roller 146 is connected to the first roller mounting seat 145 via plug bolts;

[0054] The second moving part 150 includes a second slide rail mounting frame 151, a second slide rail 152, a counterclockwise input link 153, a second rack 154, a second roller mounting seat 155 and a second roller 156, which are connected in sequence.

[0055] Among them, the second slide rail mounting frame 151 is connected to the second slide rail 152 through a slide rail, the second slide rail 152 is connected to the counterclockwise input link 153 through a bolt, and the counterclockwise input link 153 slides relative to the second slide rail mounting frame 151; the second rack 154 is connected to the counterclockwise input link 153 through a bolt, the second roller mounting seat 155 is connected to the counterclockwise input link 153 through a bolt, and the second roller 156 is connected to the second roller mounting seat 155 through a plug bolt; the first rack 144 and the second rack 154 are respectively engaged with the output gear 410 of the output module 400.

[0056] Further, refer to Figure 3 The stiffness adjustment module 200 includes a stiffness adjustment motor 210, a clockwise motion part 220, a counterclockwise motion part 230, a central skeleton 270, a spring 280 and a limit ring 290, wherein,

[0057] The central frame 270 is connected to the joint input shaft 120 via a sliding sleeve. The axis of the spring 280 and the axis of the limit ring 290 are collinear with the axis of the joint input shaft 120. The two ends of the spring 280 are fixed to the central frame 270 and the limit ring 290 respectively.

[0058] The clockwise motion portion 220 includes a clockwise input pressure plate 221, a clockwise input pressure plate link 222, and a clockwise input turbine 223, which are connected in sequence. The clockwise input pressure plate 221 and the clockwise input pressure plate link 222 are connected by countersunk bolts. The clockwise input pressure plate link 222 is connected to the central skeleton 270 by a flange bearing. The clockwise input pressure plate 221 and the clockwise input turbine 223 rotate synchronously and are tangential to the first roller 146 throughout the entire stroke of the clockwise input pressure plate 221.

[0059] The counterclockwise motion portion 230 includes a counterclockwise input pressure plate 231, a counterclockwise input pressure plate link 232, and a counterclockwise input turbine 233, which are connected in sequence. The counterclockwise input pressure plate 231 and the counterclockwise input pressure plate link 232 are connected by countersunk bolts. The counterclockwise input pressure plate link 232 is connected to the central skeleton 270 by a flange bearing. The counterclockwise input pressure plate 231 and the counterclockwise input turbine 233 rotate synchronously and are tangent to the second roller 156 throughout the entire stroke of the counterclockwise input pressure plate 231.

[0060] Further, refer to Figure 1The clockwise input pressure plate link 222 is coaxial with the clockwise input turbine 223 and is directly connected, and the counterclockwise input pressure plate link 232 is coaxial with the counterclockwise input turbine 233 and is directly connected; the clockwise input turbine 223 and the counterclockwise input turbine 233 rotate synchronously and in opposite directions under the drive of the worm 350 of the stiffness adjustment input module 300.

[0061] Specifically, the central skeleton 270 slides freely on the joint input shaft 120, the clockwise input turbine 223 is connected to the central skeleton 270 through bearings, bolts and gaskets, and the counterclockwise input turbine 233 is connected to the central skeleton 270 through bearings, bolts and gaskets.

[0062] Further, refer to Figure 1 The stiffness adjustment module 200 also includes an encoder 240, a joint motor flange 250 and an input shaft flange 260. The joint motor 110 is installed on the joint motor flange 250 by bolts, the joint motor flange 250 and the input shaft flange 260 are connected by bolts, and the encoder 240 magnetic ring is installed on the joint input shaft 120 by a top screw.

[0063] Further, refer to Figure 4 The stiffness adjustment input module 300 includes a stiffness adjustment motor flange 310, a stiffness adjustment motor output gear 320, a D-type shaft input gear 330, a worm D-type shaft 340, a worm 350 and a D-type shaft sleeve 360.

[0064] The stiffness adjustment motor flange 310 is connected to the stiffness adjustment motor 210 of the stiffness adjustment module 200 by bolts, the stiffness adjustment motor flange 310 is connected to the stiffness adjustment motor output gear 320 by jackscrews, the stiffness adjustment motor output gear 320 is connected to the joint input shaft 120 of the joint angle input module 100 by a bearing, and the D-shaped shaft input gear 330 is installed on the joint input disk 130 of the joint angle input module 100 by a flange bearing;

[0065] The D-shaped shaft input gear 330, the worm D-shaped shaft 340, the worm 350 and the D-shaped shaft sleeve 360 ​​are stacked and installed. The lower end of the worm D-shaped shaft 340 is a round shaft. The worm D-shaped shaft 340 is connected to the D-shaped shaft sleeve 360 ​​through a bearing. The axis of the worm 350 cooperates with the clockwise input turbine 223 and the counterclockwise input turbine 233 of the stiffness adjustment module 200.

[0066] A D-shaped hole is provided in the middle of the worm 350 , and the worm D-shaped shaft 340 passes through the D-shaped hole of the worm 350 .

[0067] Specifically, the D-shaped shaft end of the worm 350 slides freely on the worm D-shaped shaft 340 and is stacked; the axis of the worm 350 cooperates with the clockwise input turbine 223 and the counterclockwise input turbine 233 of the stiffness adjustment module 200 at the same time, where the center distance is 17 mm; and the worm 350 can slide freely on the worm D-shaped shaft 340.

[0068] Further, refer to Figure 1 and Figure 4 The output module 400 includes an output gear 410 and an output housing, and the output gear 410 is connected to the output housing by bolts; the output housing is also provided with a mounting hole for mounting an output disk for torque output and a groove for calibrating the output of the winding wheel at the base end of the rope-driven robot arm.

[0069] Further, refer to Figure 1 , further comprising a base module 500, wherein the base module 500 includes a stiffness adjustment motor mounting base 510 connected to the stiffness adjustment module 200 and a joint motor 110 mounting base connected to the joint angle input module 100;

[0070] The stiffness adjustment motor 210 of the stiffness adjustment module 200 is mounted on the stiffness adjustment motor mounting base 510 via bolts, and the input shaft flange 260 of the stiffness adjustment module 200 is mounted on the joint motor 110 mounting base via a deep groove ball bearing.

[0071] Specifically, the stiffness adjustment motor mounting base 510 and the joint motor mounting base 520 are respectively mounted on the optical platform by bolts, and the encoder 240 of the stiffness adjustment module 200 is mounted on the joint motor mounting base 520 by bolts.

[0072] Reference Figure 3 The variable stiffness principle of the stiffness adjustment module 200 is: the clockwise input turbine 223 and the counterclockwise input turbine 233 are driven to rotate simultaneously and in opposite directions by the worm 350, and the inclination angles of the clockwise input pressure plate 221 and the counterclockwise input pressure plate 231 are changed at the same time, so that the torques generated by the two pressure plates in the horizontal direction offset each other, and the transmission ratio between the elastic force and the output torque is changed in the vertical direction to achieve the purpose of variable stiffness. Using the turbine worm 350 as the transmission method for stiffness adjustment has the advantages of compact structure, fast response, and self-locking ability.

[0073] refer to Figure 2 and Figure 3 , rack horizontal movement distance ,in is the pitch circle radius of the output gear 410, is the vertical movement distance of the central skeleton 270, is the inclination angle of the clockwise input pressing plate 221 and the counterclockwise input pressing plate 231, The horizontal component of the pressure generated by the clockwise input pressure plate 221 and the counterclockwise input pressure plate 231 is ,in is the stiffness of the spring 280, and the total external torque equivalent to the output gear 410 is , then the inclination angles of the clockwise input pressure plate 221 and the counterclockwise input pressure plate 231 are The corresponding system stiffness is The total torque of the external force Joint deflection angle The differential of , it can be seen that the system stiffness Joint deflection angle The change of joint stiffness is independent of the change of joint angle, and the decoupling of joint position stiffness is achieved.

[0074] In a specific embodiment, the stiffness adjustment motor mounting base 510 and the joint motor 110 mounting base can be removed, and the joint is fixed to the base end of the rope-driven robot arm through the flange of the joint motor 110, and is directly installed above the rope-driven robot arm motor. The stiffness adjustment motor 210 is stacked above the joint module, and the groove engraved on the output shell is directly used as the winding end output.

[0075] In some embodiments, a first servo motor and a second servo motor are further included, and the first servo motor and the second servo motor are arranged at the rear end of the joint, such as being installed on the arm rod of the robotic arm joint, to reduce the mass and inertia of the end joint of the robotic arm.

[0076] Furthermore, the present invention also proposes a robotic arm, comprising the position-stiffness-decoupled rope-driven robotic arm variable-stiffness joint module.

[0077] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may be modified and varied in various ways.

Claims

1. A position-stiffness decoupled rope-driven manipulator variable stiffness joint module, characterized in that: include: Joint Angle Input Module (100); a stiffness adjustment module (200), one side of the stiffness adjustment module (200) being connected to the joint angle input module (100); a stiffness adjustment input module (300), the stiffness adjustment input module (300) being arranged on the other side of the stiffness adjustment module (200), the output of the stiffness adjustment input module (300) being connected to the stiffness adjustment module (200); an output module (400), the output module (400) comprising an output gear (410), the output module (400) being connected to the joint angle input module (100) via the output gear (410); The stiffness adjustment module (200) comprises a stiffness adjustment motor (210), a clockwise motion part (220), a counterclockwise motion part (230), a central skeleton (270), a spring (280), and a limit ring (290), wherein: The central frame (270) is connected to the joint input shaft (120) via a sliding sleeve, the axis of the spring (280), the axis of the limit ring (290) and the axis of the joint input shaft (120) are collinear, and both ends of the spring (280) are fixed to the central frame (270) and the limit ring (290), respectively; The clockwise motion portion (220) includes a clockwise input pressure plate (221), a clockwise input pressure plate link (222), and a clockwise input turbine (223) connected in sequence. The clockwise input pressure plate (221) and the clockwise input pressure plate link (222) are connected via countersunk bolts. The clockwise input pressure plate link (222) and the central skeleton (270) are connected via flange bearings. The clockwise input pressure plate (221) and the clockwise input turbine (223) rotate synchronously and are tangent to the first roller (146) throughout the entire stroke of the clockwise input pressure plate (221). The counterclockwise motion portion (230) comprises a counterclockwise input pressure plate (231), a counterclockwise input pressure plate link (232), and a counterclockwise input turbine (233) connected in sequence, wherein the counterclockwise input pressure plate (231) and the counterclockwise input pressure plate link (232) are connected via countersunk bolts, and the counterclockwise input pressure plate link (232) and the central skeleton (270) are connected via flange bearings, and the counterclockwise input pressure plate (231) and the counterclockwise input turbine (233) rotate synchronously and are tangent to the second roller (156) throughout the entire stroke of the counterclockwise input pressure plate (231).

2. The position-stiffness-decoupled rope-driven manipulator variable stiffness joint module according to claim 1, characterized in that: The joint angle input module (100) comprises a joint motor (110), a joint input shaft (120), and a joint input disk (130) connected in sequence, wherein the joint input shaft (120) and the joint input disk (130) are connected via bolts. wherein the axis of the joint input shaft (120), the axis of the joint input disk (130), the axis of the joint motor (110), and the axis of the stiffness adjustment motor (210) of the stiffness adjustment module (200) are collinear; The joint angle input module (100) further comprises a first moving part (140) and a second moving part (150) which are arranged between the joint input shaft (120) and the joint input disk (130).

3. The position-stiffness-decoupled rope-driven manipulator variable stiffness joint module according to claim 2, characterized in that: The first moving part (140) includes a first slide rail mounting frame (141), a first slide rail (142), a clockwise input link (143), a first rack (144), a first roller mounting seat (145), and a first roller (146) connected in sequence. Wherein, the joint input disk (130) is connected to the first slide rail mounting frame (141) by bolts, the first slide rail mounting frame (141) is connected to the first slide rail (142) by slide rails, the first slide rail (142) is connected to the clockwise input link (143) by bolts, and the clockwise input link (143) slides relative to the first slide rail mounting frame (141); the first rack (144) is connected to the clockwise input link (143) by bolts, the first roller mounting seat (145) is connected to the clockwise input link (143) by bolts, and the first roller (146) is connected to the first roller mounting seat (145) by plug bolts; The second moving part (150) includes a second slide rail mounting frame (151), a second slide rail (152), a counterclockwise input link (153), a second rack (154), a second roller mounting seat (155) and a second roller (156) connected in sequence. The second slide rail mounting frame (151) is connected to the second slide rail (152) through a slide rail, the second slide rail (152) is connected to the counterclockwise input link (153) through a bolt, and the counterclockwise input link (153) slides relative to the second slide rail mounting frame (151); the second rack (154) is connected to the counterclockwise input link (153) through a bolt, the second roller mounting seat (155) is connected to the counterclockwise input link (153) through a bolt, and the second roller (156) is connected to the second roller mounting seat (155) through a plug bolt; the first rack (144) and the second rack (154) are respectively engaged with the output gear (410) of the output module (400).

4. The position-stiffness-decoupled rope-driven manipulator variable stiffness joint module according to claim 1, characterized in that: The clockwise input pressure plate link (222) is coaxial with and directly connected to the clockwise input turbine (223), and the counterclockwise input pressure plate link (232) is coaxial with and directly connected to the counterclockwise input turbine (233); the clockwise input turbine (223) and the counterclockwise input turbine (233) rotate synchronously and in opposite directions under the drive of the worm (350) of the stiffness adjustment input module (300).

5. The position-stiffness-decoupled rope-driven manipulator variable stiffness joint module according to claim 1, characterized in that: The stiffness adjustment module (200) further comprises an encoder (240), a joint motor flange (250) and an input shaft flange (260); the joint motor (110) is mounted on the joint motor flange (250) via bolts; the joint motor flange (250) and the input shaft flange (260) are connected via bolts; and the magnetic ring of the encoder (240) is mounted on the joint input shaft (120) via a top screw.

6. The position-stiffness-decoupled rope-driven manipulator variable stiffness joint module according to claim 1, characterized in that: The stiffness adjustment input module (300) comprises a stiffness adjustment motor flange (310), a stiffness adjustment motor output gear (320), a D-shaped shaft input gear (330), a worm D-shaped shaft (340), a worm (350), and a D-shaped shaft sleeve (360). The stiffness adjustment motor flange (310) is connected to the stiffness adjustment motor (210) of the stiffness adjustment module (200) via bolts, the stiffness adjustment motor flange (310) is connected to the stiffness adjustment motor output gear (320) via a top screw, the stiffness adjustment motor output gear (320) is connected to the joint input shaft (120) of the joint angle input module (100) via a bearing, and the D-shaped shaft input gear (330) is mounted on the joint input disk (130) of the joint angle input module (100) via a flange bearing; The D-type shaft input gear (330), the worm D-type shaft (340), the worm (350) and the D-type shaft sleeve (360) are stacked and installed, the lower end of the worm D-type shaft (340) is a circular shaft, the worm D-type shaft (340) is connected to the D-type shaft sleeve (360) through a bearing, and the axis of the worm (350) cooperates with the clockwise input turbine (223) and the counterclockwise input turbine (233) of the stiffness adjustment module (200); A D-shaped hole is provided in the middle of the worm (350), and the worm D-shaped shaft (340) passes through the D-shaped hole of the worm (350).

7. The position-stiffness-decoupled rope-driven manipulator variable stiffness joint module according to claim 1, characterized in that: The output module (400) comprises an output gear (410) and an output housing, wherein the output gear (410) is connected to the output housing via bolts; the output housing is also provided with a mounting hole for mounting an output disc for torque output and a groove for calibrating the output of the winding wheel at the base end of the rope-driven manipulator.

8. The position-stiffness-decoupled rope-driven manipulator variable stiffness joint module according to claim 1, characterized in that: It also includes a base module (500), the base module (500) including a stiffness adjustment motor mounting base (510) connected to the stiffness adjustment module (200) and a joint motor mounting base (520) connected to the joint angle input module (100); The stiffness adjustment motor (210) of the stiffness adjustment module (200) is mounted on the stiffness adjustment motor mounting base (510) via bolts, and the input shaft flange (260) of the stiffness adjustment module (200) is mounted on the joint motor mounting base (520) via a deep groove ball bearing.

9. A robotic arm, characterized in that: A variable stiffness joint module of a rope-driven manipulator with position stiffness decoupling as claimed in any one of claims 1 to 8.

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