Large-load rope-driven agile mechanical arm based on three-degree-of-freedom differential joint

Abstract

The invention relates to a heavy-load rope-driven agile mechanical arm based on a three-degree-of-freedom differential joint. Comprising a base, a rope-driven three-degree-of-freedom differential motion shoulder ball joint, a first connecting arm rod, a one-degree-of-freedom antagonistic decoupling elbow joint, a second connecting arm rod and a third connecting arm rod which are connected in sequence, wherein the rope-driven three-degree-of-freedom differential motion shoulder ball joint is used for carrying out first shoulder rotation motion, second shoulder pitching motion and third shoulder rotation motion; the one-degree-of-freedom antagonistic decoupling elbow joint is used for carrying out elbow pitching motion; the rope-driven three-degree-of-freedom differential wrist ball joint is used for driving the first wrist to move, the second wrist to move in a pitching mode and the third wrist to move in a rotating mode. According to the invention, the loading capacity can be improved, so that the mechanical arm is lighter, faster and more powerful.

Description

Technical Field

[0001] The invention relates to a large-load rope-driven agile mechanical arm based on a three-degree-of-freedom differential joint, and belongs to the technical field of mechanical arms. Background Art

[0002] With the continuous progress of industrial automation and robotics technology, the application scope of robotic arms is constantly expanding. Although the traditional drive source-driven robotic arms have advantages in control accuracy, their complex structure, heavy weight and high cost make it difficult to simultaneously meet the higher requirements of modern industry for robotic arms in terms of large load handling, high-precision operation and human-machine collaboration. In particular, due to the limitations of their structure and drive mode, traditional robotic arms are difficult to simultaneously meet the needs of large load handling and agile operation. Therefore, the design and drive mode of robotic arms are undergoing innovation and optimization. As an emerging drive mode, rope drive technology has significant advantages such as electromechanical separation and flexible buffering, which can effectively reduce the weight of the robotic arm and improve its load-to-weight ratio and safety. However, rope drive technology also has some technical challenges, such as rope slack, wear and coupling, which may have an adverse effect on the motion accuracy and stability of the robotic arm. Summary of the invention

[0003] The present invention provides a large-load rope-driven agile manipulator based on a three-degree-of-freedom differential joint, aiming to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a large-load rope-driven agile manipulator based on a three-degree-of-freedom differential joint, and the spherical joints of the shoulder and wrist are designed as three-degree-of-freedom differential spherical joints, so that the manipulator is lighter, faster and more powerful.

[0004] The technical solution of the present invention relates to a rope-driven agile manipulator, comprising:

[0005] A base connected in sequence, a rope-driven three-degree-of-freedom differential shoulder ball joint for performing shoulder rotation, shoulder pitch and shoulder rotation, a first connecting arm, an antagonistic decoupling elbow joint with one degree of freedom for elbow pitch, a second connecting arm and a rope-driven three-degree-of-freedom differential wrist ball joint for performing wrist rotation, wrist pitch and wrist rotation, and a driving source for providing power.

[0006] Further, the driving source includes a first driving source, a second driving source, a third driving source, a fourth driving source, a fifth driving source, a sixth driving source, and a seventh driving source; the first driving source, the second driving source, and the third driving source for driving the rope-driven three-degree-of-freedom differential shoulder ball joint are all fixed on the base; the fourth driving source for driving the antagonistic decoupling elbow joint is fixed on the first arm; the fifth driving source, the sixth driving source, and the seventh driving source for driving the rope-driven three-degree-of-freedom differential wrist ball joint are fixed on the first arm.

[0007] Furthermore, the rope-driven three-degree-of-freedom differential shoulder ball joint is provided with a shoulder differential mechanism, a shoulder slewing bracket and a shoulder pitch bracket on the base; the shoulder differential mechanism includes a shoulder first differential connecting shaft and a shoulder second differential connecting shaft, and a differential wheel coaxially arranged along the first direction of the shoulder and capable of rotating independently. 11 , first and second differential wheels 12 and one and three differential wheels 13 , and a two-to-one differential gear r coaxially arranged along the second direction of the shoulder and coaxially connected to the first differential connecting shaft of the shoulder 21 、22 differential gear r 22 and the second and third differential wheels 23 , and a three-two differential gear r coaxially arranged along the third direction of the shoulder and coaxially connected to the second differential connecting shaft of the shoulder 32 and three-three differential gear 33 The first direction of the shoulder, the second direction of the shoulder and the third direction of the shoulder intersect at one point; the first differential connecting shaft of the shoulder is fixedly connected to the shoulder rotating bracket, and the two-one differential wheel r 21 The first driving source, the second driving source and the third driving source are respectively used to drive the differential wheels. 11 , the first and second differential wheels 12 and the one-three differential wheels r 13 Rotation; wherein the differential wheel r 11 and the two-one differential gear r 21 The first differential kinematic pair of the shoulder is composed of the first and second differential wheels. 12 , the second differential wheel r 22 And the three-two differential wheel r 32 The second differential kinematic pair of the shoulder is composed of the first and third differential wheels. 13 , the second and third differential wheels r 23 And the three-three differential gear r 33The third differential motion pair of the shoulder is formed, thereby allowing shoulder 1 rotation motion, shoulder 2 pitch motion and shoulder 3 rotation motion to be generated through 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.

[0008] Furthermore, the rope-driven three-degree-of-freedom differential wrist ball joint includes a wrist differential mechanism and a wrist pitch bracket; the wrist differential mechanism includes a wrist first differential connection shaft and a wrist second differential connection shaft, and a wrist differential wheel coaxially arranged along a first direction of the wrist and independently rotatable. 11 、First and second wrist differential gear r 12 and a three-wheel differential 13 , and a second wrist differential gear r coaxially arranged along the second direction of the wrist and coaxially connected to the first differential connecting shaft of the wrist 21 、22 wrist differential gear r 22 、Second and third wrist differential gear r 23 , and a three-two wrist differential gear r coaxially arranged along the third direction of the wrist and coaxially connected to the second differential connecting shaft of the wrist 32 and triple wrist differential 33 The first direction of the wrist, the second direction of the wrist and the third direction of the wrist intersect at one point; the two-wrist differential wheel r 21 The fifth drive source, the sixth drive source, and the seventh drive source are respectively used to drive the wrist differential wheel r 11 、First and second wrist differential gear r 12 and a three-wheel differential 13 Rotation; wherein the wrist differential wheel r 11 and the two-wrist differential gear r 21 The first wrist differential motion pair is composed of the first wrist differential gear r 12 、The second wrist differential gear r 22 And the three-two wrist differential gear r 32 The second wrist differential motion pair is composed of the first and second wrist differential wheels. 13 、The second and third wrist differential gear r 23 And the three-three wrist differential gear r 33 The third wrist differential motion pair is formed, thereby allowing wrist one rotation motion, wrist two pitch motion and wrist three rotation motion to be generated through the first wrist differential motion pair, the second wrist differential motion pair and the third wrist differential motion pair.

[0009] Further, the antagonistic decoupling elbow joint includes an elbow driving end driving wheel, an elbow joint end driving wheel, an elbow connecting plate, a first elbow side plate, a second elbow side plate, a third elbow side plate, an elbow auxiliary pulley group and an elbow decoupling pulley group; wherein, the elbow joint end driving wheel is connected to the first elbow side plate by a coupling rope, and the second elbow side plate is connected to the third elbow side plate by a coupling rope; the elbow driving end driving wheel is coaxial and fixedly connected to the output end of the fourth driving source, and the elbow driving end driving wheel is connected to the elbow joint end driving wheel by rope transmission.

[0010] Furthermore, the antagonistic decoupling elbow joint also has two elbow connecting plates, wherein the opposite ends of one elbow connecting plate are respectively connected to the first elbow side plate and the driving wheel at the elbow joint end, and the opposite ends of the other elbow connecting plate are respectively connected to the second elbow side plate and the third elbow side plate.

[0011] Further, the wrist differential mechanism includes a first wrist driving wheel, a second wrist driving wheel and a third wrist driving wheel; the first wrist driving wheel is fixedly connected to the fifth driving source, the second wrist driving wheel is fixedly connected to the sixth driving source, and the third wrist driving wheel is fixedly connected to the seventh driving source; wherein, the first wrist driving wheel, the second wrist driving wheel and the third wrist driving wheel transmit power to the elbow auxiliary pulley group and the elbow decoupling pulley group through ropes, thereby driving the rope-driven three-degree-of-freedom differential wrist ball joint to move.

[0012] Furthermore, a plurality of adjustment pulleys are arranged between the rope-driven three-degree-of-freedom differential wrist ball joint and the antagonistic decoupling elbow joint; the plurality of adjustment pulleys are movably arranged on the second connecting arm rod to keep the rope taut when the robotic arm moves.

[0013] Furthermore, a plurality of steering pulleys are arranged between the rope-driven three-degree-of-freedom differential wrist ball joint and the antagonistic decoupling elbow joint; the plurality of steering pulleys are fixed on the second connecting arm rod and are respectively arranged on the wrist differential pulleys. 11 、The first and second wrist differential gears r 12 and the three-wheel differential gear r 13 around the periphery to deflect the drive rope.

[0014] Further, the two-one differential gear r 21 The diameter is smaller than the second differential wheel r 22 , the two-two differential wheels r 22 The diameter is smaller than the second and third differential wheels r 23 .

[0015] The beneficial effects of the present invention are as follows.

[0016] The large-load rope-driven agile manipulator based on a three-degree-of-freedom differential joint of the embodiment of the present invention adopts an SRS configuration, and the spherical joints of the shoulder and wrist are designed as three-degree-of-freedom differential ball joints. Utilizing the torque superposition principle of the three-degree-of-freedom differential joint, the torque of multiple drive sources is concentrated on one joint through a rope, and the torque output of a single joint is increased without increasing the number of drive sources or improving their performance, thereby improving the carrying capacity of the manipulator. The elbow of the manipulator adopts an antagonistic decoupling design, so that the three drive sources of the wrist can be installed at the first arm rod, and the three drive sources of the shoulder are fixed on the base, which can significantly reduce the weight and inertia of the active part of the manipulator, thereby achieving a high load-to-weight ratio and agility of the manipulator. The weight of the active part of the manipulator does not exceed 8.3 kg, the arm length is 1000 mm, and it can carry a load of 12 kg. Its load-to-weight ratio exceeds 1, and the terminal linear speed can reach 7m / s, making the manipulator lighter, faster and more powerful. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0018] Figure 1 is an overall schematic diagram of a large-load rope-driven agile manipulator according to an embodiment of the present invention;

[0019] Figure 2 is a schematic structural diagram of a rope-driven three-degree-of-freedom differential shoulder ball joint according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a decoupling strand of a shoulder differential mechanism according to an embodiment of the present invention;

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

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

[0023] Figure 6 is a rope winding diagram of a differential mechanism of a rope-driven three-degree-of-freedom differential shoulder ball joint according to the present invention;

[0024] Figure 7 is a schematic structural diagram of an antagonistic decoupling elbow joint according to an embodiment of the present invention;

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

[0026] Fig. 9 It is a structural explosion diagram of a first differential kinematic pair, a second differential kinematic pair and a third differential kinematic pair of a wrist of a rope-driven three-degree-of-freedom differential wrist ball joint according to an embodiment of the present invention;

[0027] Fig.10 is a schematic diagram of the routing of the wrist joint drive line according to an embodiment of the present invention;

[0028] Fig.11 It is a cross-sectional schematic diagram of a rope-driven three-degree-of-freedom differential shoulder ball joint according to an embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 1. Base; 2. Rope-driven three-degree-of-freedom differential shoulder ball joint; 3. First connecting arm rod; 4. Antagonistic decoupling elbow joint; 5. Second connecting arm rod; 6. Rope-driven three-degree-of-freedom differential wrist ball joint; 7. Driving source; 8. Wrist support plate;

[0031] 21. Shoulder differential mechanism; 22. Shoulder swivel bracket; 23. Shoulder pitch bracket;

[0032] 201, shoulder first differential connecting shaft; 202, shoulder second differential connecting shaft; 211, differential wheel 11 ; 212, one and two differential wheels r 12 ; 213, one and three differential wheels r 13 ; 221, two-one differential gear r 21 ; 222, 22 differential wheel r 22 ; 223, second and third differential wheels r 23 ; 232, three-two differential wheel r 32 ; 233, three-three differential wheel r 33 ;

[0033] 401, drive wheel at the drive end of the elbow; 402, drive wheel at the joint end of the elbow; 411, elbow connecting plate; 412, first elbow side plate 1; 413, second elbow side plate 2; 414, third elbow side plate 3; 421, elbow auxiliary pulley block; 422, elbow decoupling pulley block; 431, elbow lower side decoupling pulley block; 432, elbow upper side decoupling pulley block 432;

[0034] 501, steering pulley; 510, adjusting pulley;

[0035] 601, first differential connection shaft of wrist; 602, second differential connection shaft of wrist;

[0036] 61. Wrist differential mechanism; 62. Wrist pitch support;

[0037] 611, wrist differential gear 11; 612, one and two wrist differential wheels r 12 ; 613, one or three wrist differential gear r 13 ; 621, 2-1 wrist differential gear r 21 ; 622, 22 wrist differential gear r 22 ; 623, second and third wrist differential gear r 23 ; 632, three-two wrist differential wheel r 32 ; 633, three-three wrist differential wheel r 33 ;

[0038] 71, first driving source; 72, second driving source; 73, third driving source; 74, fourth driving source; 75, fifth driving source; 76, sixth driving source; 77, seventh driving source;

[0039] 701, shoulder first driving rope; 702, shoulder second driving rope; 703, shoulder third driving rope; 704, shoulder fourth driving rope; 705, shoulder fifth driving rope; 706, shoulder sixth driving rope; 711, shoulder first coupling rope; 712, shoulder second coupling rope; 713, shoulder third coupling rope; 714, shoulder fourth coupling rope; 715, shoulder fifth coupling rope; 716, shoulder sixth coupling rope; 721, elbow and wrist first driving rope; 72 2. The second driving rope of the elbow and wrist; 723. The third driving rope of the elbow and wrist; 724. The fourth driving rope of the elbow and wrist; 731. The first coupling rope of the elbow and wrist; 732. The second coupling rope of the elbow and wrist; 733. The third coupling rope of the elbow and wrist; 734. The fourth coupling rope of the elbow and wrist; 741. The first driving rope of the wrist 2 and wrist 3; 742. The second driving rope of the wrist 2 and wrist 3; 743. The third driving rope of the wrist 2 and wrist 3; 744. The fourth driving rope of the wrist 2 and wrist 3;

[0040] 810, first shoulder driving wheel; 811, first shoulder driven wheel; 820, second shoulder driving wheel; 821, second shoulder driven wheel; 830, third shoulder driving wheel; 831, third shoulder driven wheel;

[0041] 91, first rotary encoder; 91a, inner ring of the first rotary encoder; 91b, outer ring of the first rotary encoder; 92, second rotary encoder; 92a, inner ring of the second rotary encoder; 92b, outer ring of the second rotary encoder; 93, third rotary encoder; 93a, inner ring of the third rotary encoder; 93b, outer ring of the third rotary encoder. DETAILED DESCRIPTION

[0042] 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, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to another feature, or it can be indirectly fixed or connected to another feature. In addition, the descriptions of upper, lower, left, right, top, bottom, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the drawings. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in this field. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and / or" used herein includes any combination of one or more related listed items. 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, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.

[0043] See also Figures 1 to 11 The large-load rope-driven agile manipulator based on a three-degree-of-freedom differential joint of the technical solution of the present invention comprises a base 1, a rope-driven three-degree-of-freedom differential shoulder ball joint 2 for shoulder rotation, shoulder pitch and shoulder rotation, a first arm 3, an antagonistic decoupling elbow joint 4 with one degree of freedom for elbow pitch, a second arm 5 and a rope-driven three-degree-of-freedom differential wrist ball joint 6 for wrist rotation, wrist pitch and wrist rotation, and a driving source 7 for providing power.

[0044] Reference Figure 1 The large-load rope-driven agile manipulator comprises a base 1, a rope-driven three-degree-of-freedom differential shoulder ball joint 2, a first connecting arm 3, an antagonistic decoupling elbow joint 4, a second connecting arm 5 and a rope-driven three-degree-of-freedom differential wrist ball joint 6, and a driving source 7 for providing power. Among them, the rope-driven three-degree-of-freedom differential shoulder ball joint 2 is composed of a shoulder first swivel joint, a shoulder second pitch joint 202 and a shoulder third swivel joint, with a total of three degrees of freedom, and the shoulder first swivel joint is connected to the base 1. One end of the first arm 3 is connected to the three-degree-of-freedom differential shoulder joint 2, and the other end is connected to the antagonistic decoupling elbow joint 4.

[0045] Among them, the antagonistic decoupling elbow joint 4 has one degree of freedom, realizing the pitching movement of the elbow, and at the same time, the antagonistic decoupling elbow joint 4 can complete the decoupling of the wrist three-degree-of-freedom driving rope at the elbow joint, ensuring that the length of the driving rope of the rope-driven three-degree-of-freedom differential wrist ball joint 6 is not affected by the movement of the antagonistic decoupling elbow joint 4. One end of the second arm 5 is connected to the antagonistic decoupling elbow joint 4, and the other end is connected to the rope-driven three-degree-of-freedom differential wrist ball joint 6. The rope-driven three-degree-of-freedom differential wrist ball joint 6 has three degrees of freedom, realizing the rotational movement of wrist one, the pitching movement of wrist two, and the rotational movement of wrist three.

[0046] Among them, the rope-driven three-degree-of-freedom differential shoulder ball joint 2 and the rope-driven three-degree-of-freedom differential wrist ball joint 6 are both three-degree-of-freedom parallel differential ball joints, and both realize the movement of a joint by simultaneously controlling 3 / 2 driving sources, and the torques of multiple driving sources are superimposed at the same joint to increase the output torque of the joint. At the same time, the three driving sources drive the driving wheels arranged on coaxial axes to rotate, and transmit power to the three-degree-of-freedom parallel differential ball joint. The three driving sources can be fixed on the base at the same time for the rope-driven three-degree-of-freedom differential shoulder ball joint 2 or rear-mounted for the rope-driven three-degree-of-freedom differential wrist ball joint 6.

[0047] The large-load rope-driven agile manipulator based on a three-degree-of-freedom differential joint of the present invention adopts an SRS configuration, and the spherical joints of the shoulder and wrist are designed as three-degree-of-freedom differential spherical joints. The torque superposition principle of the three-degree-of-freedom differential joint is utilized to concentrate the torque of multiple drive sources on one joint through a rope, and the torque output of a single joint is increased without increasing the number of drive sources or improving their performance, thereby improving the carrying capacity of the manipulator. The elbow of the manipulator adopts an antagonistic decoupling design, so that the three drive sources of the wrist are installed at the first arm rod, and the three drive sources of the shoulder are fixed on the base, which can significantly reduce the weight and inertia of the active part of the manipulator, thereby achieving a high load-to-weight ratio and agility of the manipulator. The weight of the active part of the manipulator does not exceed 8.3 kilograms, the arm length is 1000 mm, and it can carry a load of 12 kilograms. Its load-to-weight ratio exceeds 1, and the terminal linear speed can reach 7m / s, making the manipulator lighter, faster and more powerful.

[0048] In some embodiments, the driving source 7 of the large-load rope-driven agile robotic arm based on a three-degree-of-freedom differential joint includes a first driving source 71, a second driving source 72, a third driving source 73, a fourth driving source 74, a fifth driving source 75, a sixth driving source 76 and a seventh driving source 77.

[0049] Reference Figure 3The first driving source 71, the second driving source 72 and the third driving source 73 are arranged on the base 1. With the cooperation of the first driving source 71, the second driving source 72 and the third driving source 73, the torque is distributed to each shoulder joint through the transmission line to realize the shoulder first rotation movement, shoulder second pitch movement and shoulder third rotation movement of the rope-driven three-degree-of-freedom differential shoulder ball joint 2. Figure 1 The fourth driving source 74, the fifth driving source 75, the sixth driving source 76 and the seventh driving source 77 are all fixed on the first arm 3, and the fourth driving source 74 directly drives the antagonistic decoupling elbow joint 4 to move, thereby realizing the elbow pitching movement of the antagonistic decoupling elbow joint 4. Figure 1 With the cooperation of the fifth driving source 75, the sixth driving source 76 and the seventh driving source 77, the torque is distributed to each joint of the wrist through the transmission line distribution, realizing the wrist one rotational motion, wrist two pitching motion and wrist three rotational motion of the rope-driven three-degree-of-freedom differential wrist ball joint 6.

[0050] In some embodiments, the cable-driven three-degree-of-freedom differential shoulder ball joint 2 includes a shoulder differential mechanism 21, a shoulder swivel bracket 22, and a shoulder pitch bracket 23. Figure 4 The shoulder differential mechanism 21 includes 8 differential wheels, a shoulder first differential connecting shaft 201 and a shoulder second differential connecting shaft 202. The 8 differential wheels are respectively: 11 211, differential gear one and two 12 212, 1st and 3rd differential gears 13 213, 21 differential gear 21 221, 22 differential gear 22 222, second and third differential wheels 23 223, three-two differential gear 32 232 and three-three differential gear r 33 233.

[0051] See also Figures 2 to 4 The first driving source 71, the second driving source 72, and the third driving source 73 drive the differential wheels r 11 211, differential gear one and two 12 212, 1st and 3rd differential gears 13 213 rotation, and a differential wheel r 11 211, differential gear one and two 12 212 and 13 differential wheels 13 213 are connected in sequence along the first direction of the shoulder and are arranged coaxially. 21 221, 22 differential gear 22 222, second and third differential wheels 23 223 is arranged along the shoulder portion in a coaxial manner extending in the second direction. 32 232 and three-three differential gear r 33233 is arranged along the third direction of the shoulder concentric axis. The first direction of the shoulder, the second direction of the shoulder and the third direction of the shoulder correspond to Figure 4 The J1 direction, J2 direction and J3 direction of the shoulder, the first direction J1 of the shoulder, the second direction J2 of the shoulder and the third direction J3 of the shoulder intersect at one point in space.

[0052] Reference Figure 2 and Figure 4 , 2-1 differential gear r 21 221, 22 differential gear 22 222, second and third differential wheels 23 223 is coaxially arranged with the first differential connecting shaft 201 of the shoulder, wherein the second differential gear 21 221 is connected to one end of the first differential connecting shaft 61 of the shoulder, and the second differential wheel r 22 222 and second and third differential wheels 23 223 is connected to the other end of the shoulder first differential connecting shaft 61. 32 232 and three-three differential gear r 33 233 are respectively fixedly connected to the two ends of the shoulder second differential connecting shaft 202. The first driving source 71, the second driving source 72, and the first driving source 73 are fixedly connected to the base 1. 21 221 is fixedly connected to the pitch bracket 23 .

[0053] Among them, the differential gear r 11 211, 21 differential gear 21 221 constitutes the first differential motion pair of the shoulder, the first and second differential wheels 12 212, 2-2 differential gear 22 222 and 32 differential gear r 32 232 constitutes the second differential motion pair of the shoulder, one and three differential wheels r 13 213, second and third differential wheels 23 223 and 33 differential gear 33 233 constitutes the third differential kinematic pair of the shoulder. The first driving source 71, the second driving source 72, and the third driving source 73 transmit power to the differential wheels respectively. 11 211, differential gear one and two 12 212, differential gear one and two 13 213, thereby driving the first differential motion pair of the shoulder, the second differential motion pair of the shoulder and the third differential motion pair of the shoulder to move, and realizing the independent controllability of the three-degree-of-freedom joint and the superposition of multiple driver output torques at the same joint through the cooperation between the differential motion pairs.

[0054] In an application embodiment, see Figure 2The shoulder rotating bracket 22 is placed above the base 1 and connected through a bearing, the shoulder pitch bracket 23 is connected to the shoulder rotating bracket 22 through a bearing, the shoulder first differential connecting shaft 201 is fixedly connected to the shoulder rotating bracket 22, and the shoulder second differential connecting shaft 202 is connected to the pitch bracket 23 through a bearing.

[0055] See also Figure 2 and Figure 4 , differential gear r 11 211, differential gear one and two 12 212, 1st and 3rd differential gears 13 213 adopts concentric shaft setting, one by one differential gear 11 211 and first and second differential wheels 12 212 are connected and supported by bearings, and the first and second differential wheels are connected and supported by bearings. 12 212 and 13 differential wheels 13 213 also adopts bearing connection support, one by one differential gear 11 211, differential gear one and two 12 212, 1st and 3rd differential gears 13 213 is positioned in the first direction J1 of the shoulder through the base 1 and the shoulder second differential connecting shaft 202. 22 222 and second and third differential wheels 23 223 is connected to the first differential connecting shaft 201 of the shoulder through a bearing to achieve positioning in the second direction J2 of the shoulder.

[0056] It should be noted that the rotation axes of the joints of the rope-driven three-degree-of-freedom differential shoulder ball joint 2 intersect at one point. According to the three-degree-of-freedom differential principle, the first drive source 71, the second drive source 72, and the third drive source 73 can be controlled to transmit power through the transmission line 700, so that each joint can be independently controlled. The rope-driven three-degree-of-freedom differential shoulder ball joint 2 of the present invention is based on the differential principle. The output torque of multiple drive sources is superimposed on the same joint through the rope. It can increase the output torque of a single joint without increasing the number of drive sources and the performance of the drive source, thereby improving the load capacity. Furthermore, the two-one differential wheel r 21 The diameter of 221 is smaller than the 22 differential gear r 22 222, 22 differential gear 22 The diameter of 222 is smaller than the second and third differential wheels r 23 223.

[0057] In some embodiments, the shoulder differential mechanism 21 includes a first shoulder driving wheel 810, a second shoulder driving wheel 820, and a third shoulder driving wheel 830, and a first shoulder driven wheel 811, a second shoulder driven wheel 821, and a third shoulder driven wheel 831. Specifically, the first shoulder driving wheel 810 and the first shoulder driven wheel 811 form a shoulder fourth differential motion pair, the second shoulder driving wheel 820 and the second shoulder driven wheel 821 form a shoulder fifth differential motion pair, and the third shoulder driving wheel 830 and the third shoulder driven wheel 831 form a shoulder sixth differential motion pair.

[0058] Specifically, see Figures 1 to 3 The first shoulder driving wheel 810 is fixedly connected to the first driving source 71, and the first shoulder driven wheel 811 is coaxially fixed to the differential wheel r 11 211, so that the first driving source 71 passes through the first shoulder driving wheel 810 and the differential wheel r 11 211 drive two-one differential wheel r 21 221 Movement.

[0059] Specifically, see Figures 1 to 3 The second shoulder driving wheel 820 is fixedly connected to the second driving source 72, and the second shoulder driven wheel 821 is coaxially fixed to the first and second differential wheels. 12 212, so that the second driving source 72 passes through the second shoulder driving wheel 820 and the first and second differential wheels r 12 212 drive two two differential wheels r 22 222 and 32 differential gear r 32 232 movement.

[0060] Specifically, see Figures 1 to 3 The third shoulder driving wheel 830 is fixedly connected to the third driving source 73, and the third shoulder driven wheel 831 is coaxially fixed to the second differential wheel r 21 221, so that the third driving source 73 passes through the third shoulder driving wheel 830 and the first three differential wheels r 13 213 drives the second and third differential wheels 23 223 and 33 differential gear 33 233 movement.

[0061] It should be noted that each differential motion pair is connected by a belt, chain, gear or rope, so that the first drive source 71, the first drive source 71 and the third drive source 73 can transmit the motion to the fourth differential motion pair of the shoulder, the fifth differential motion pair of the shoulder and the sixth differential motion pair of the shoulder respectively, 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 respectively.

[0062] In an application embodiment, see Figures 2 to 5The first coupling rope 711 and the second coupling rope 712 are wound around the differential gears in an "8" winding manner. 11 211 and 21 differential gear 21 221, and both ends of each rope are fixed on two differential wheels, that is, the rope ends at both ends of the first coupling rope 711 are respectively connected to a differential wheel r 11 211 and 21 differential gear 21 221 is fixedly connected, and the two ends of the second coupling rope 712 are respectively connected to the differential wheel r 11 211 and 21 differential gear 21 The third coupling rope 713 and the fourth coupling rope 714 are wound around the first and second differential wheels in an "8" winding manner. 12 212 and 22 differential gear r 22 222, and in the 22 differential gear r 22 222 and three-two differential gear r 32 232, the "0" winding method is adopted, that is, the two ends of the third coupling rope 713 are respectively connected to the first and second differential wheels r 12 212 and three-two differential gear r 32 232 is fixedly connected, and the middle part of the third coupling rope 713 passes around the second differential wheel r 22 222 and the steering pulley, and the ends of the fourth coupling rope 714 are respectively connected to the first and second differential wheels r 12 212 and three-two differential gear r 32 232 is fixedly connected, and the middle part of the fourth coupling rope 714 passes around the second differential wheel r 22 222 and another steering pulley, wherein the third coupling rope 713 and the fourth coupling rope 714 are respectively arranged on the opposite sides of each differential wheel of the linkage. The fifth coupling rope 715 and the sixth coupling rope 716 are wound around the first and third differential wheels in an "8" winding manner. 13 213 and second and third differential wheels 23 223, the second and third differential wheels 23 223 and 33 differential gear 33 233 are also wound in an "8" winding manner, that is, the ends of the fifth coupling rope 715 are respectively connected to the first and third differential wheels r 13 213 and 33 differential gear 33 233 is fixedly connected, and the middle of the fifth coupling rope 715 passes around the second and third differential wheels r 23 223, and the ends of the sixth coupling rope 716 are respectively connected to the first and third differential wheels r 13 213 and 33 differential gear 33 233 is fixedly connected, and the middle of the sixth coupling rope 716 passes around the second and third differential wheels r23 223, wherein the fifth coupling rope 715 and the sixth coupling rope 716 are respectively arranged on opposite sides of each differential wheel of the linkage. The rope winding method completes the power transmission of adjacent differential wheels, thereby allowing the shoulder first rotation motion, shoulder second pitch motion and shoulder third rotation motion to be generated through the shoulder first differential motion pair, the shoulder second differential motion pair and the shoulder third differential motion pair.

[0063] In an application embodiment, see Figure 2 and Figure 4 and Figure 6 The first drive rope 701 and the second drive rope 702 are wound between the first drive source end drive wheel 71 and the first differential end drive wheel 81 in a "0" winding manner, that is, the two ends of the first drive rope 701 are fixedly connected to the first drive source end drive wheel 71 and the first differential end drive wheel 81, respectively, and the two ends of the second drive rope 702 are fixedly connected to the first drive source end drive wheel 71 and the first differential end drive wheel 81. The third drive rope 703 and the fourth drive rope 704 are wound between the second drive source end drive wheel 72 and the second differential end drive wheel 82 in a "0" winding manner, that is, the two ends of the third drive rope 703 are fixedly connected to the second drive source end drive wheel 72 and the second differential end drive wheel 82, respectively, and the fourth drive rope 704 is fixedly connected to the second drive source end drive wheel 72 and the second differential end drive wheel 82, respectively. The fifth drive rope 705 and the sixth drive rope 706 are wound between the third drive source end drive wheel 73 and the third differential end drive wheel (83) in a "0" winding manner, that is, the rope ends of the fifth drive rope 705 are respectively fixedly connected to the third drive source end drive wheel 73 and the third differential end drive wheel (83), and the rope ends of the sixth drive rope 706 are respectively fixedly connected to the third drive source end drive wheel 73 and the third differential end drive wheel (83). The required transmission ratio is ensured by changing the diameter size between the corresponding drive wheels, and the drive rope is wound around the drive wheel with a spiral line to ensure that the rotation range requirement of the joint can be met. The first differential drive source 51, the second differential drive source 52, and the third differential drive source 53 respectively drive the first drive source end drive wheel 71, the second drive source end drive wheel 72, and the third drive source end drive wheel 73 fixed on the drive source to rotate, and transmit power to the first differential wheel 211, the first second differential wheel 212, and the first second differential wheel 213 through the above-mentioned drive ropes to make them move, thereby driving the first differential motion pair of the shoulder, the second differential motion pair of the shoulder, and the third differential motion pair of the shoulder to move.

[0064] It should be noted that each differential motion pair is connected by a belt, chain, gear or rope, so that the first differential drive source 51, the second differential drive source 52 and the third differential drive source 53 can transmit motion to the fourth differential motion pair, the fifth differential motion pair and the sixth differential motion pair respectively, and then drive the first differential motion pair, the second differential motion pair and the third differential motion pair to move respectively. Further, the differential motion pairs are connected by ropes to transmit power, and the rope winding method can be an "8" rope winding method or a "0" rope winding method.

[0065] In some embodiments, see Figure 8 and Fig. 9 The rope-driven three-degree-of-freedom differential wrist ball joint 6 of the present invention comprises a wrist differential mechanism 61 and a wrist pitch bracket 62. The wrist differential mechanism 61 comprises eight wrist differential wheels, a wrist first differential connecting shaft 601 and a wrist second differential connecting shaft 602. The eight wrist differential wheels are respectively: 11 611, first and second wrist differential gear 12 612, one-three wrist differential gear 13 613, 21 wrist differential gear 21 621, 22 wrist differential gear 22 622, Second and Third wrist differential gear 23 623, 32 wrist differential gear 32 632 and triple wrist differential 33 633.

[0066] The fifth driving source 75, the sixth driving source 76, and the seventh driving source 77 drive the wrist differential wheels r respectively. 11 611, first and second wrist differential gear 12 612 and 1 / 3 wrist differential gear 13 613 rotates and extends along the first direction of the wrist. 21 621, 22 wrist differential gear 22 622 and second and third wrist differential gear r 23 623 extends along the second direction of the wrist, the three-two wrist differential wheel r 32 632 and triple wrist differential 33 633 extends along the third direction of the wrist, wherein the first direction of the wrist, the second direction of the wrist and the third direction of the wrist intersect at one point in space.

[0067] Among them, the two-wrist differential gear r 21 621, 22 wrist differential gear 22 622, Second and Third wrist differential gear 23 623 is coaxially arranged with the first wrist differential connecting shaft 601, and the third and second wrist differential wheels r 32632 and triple wrist differential 33 633 is fixedly connected to both ends of the second wrist differential connecting shaft 602, the fifth driving source 75, the sixth driving source 76, and the seventh driving source 77 are fixedly connected to the second wrist connecting arm 5, and the second wrist differential wheel r 21 621 is fixedly connected to the wrist pitch support 62 .

[0068] Among them, the wrist differential gear r 11 611, 21 wrist differential gear 21 621 constitutes the first wrist differential motion pair, the first and second wrist differential wheels 12 612, 22 wrist differential gear 22 622 and 32 wrist differential gear r 32 632 constitutes the second wrist differential motion pair, a third wrist differential gear r 13 613, Second and Third wrist differential gear 23 623 and triple wrist differential gear 33 The fifth drive source 75, the sixth drive source 76, and the seventh drive source 77 transmit power to the wrist differential gears r 11 611, first and second wrist differential gear 12 612, one-three wrist differential gear 13 613, and then drive the first differential motion pair of the wrist, the second differential motion pair of the wrist and the third differential motion pair of the wrist to move, and realize the independent controllability of the three-degree-of-freedom joint of the wrist through the cooperation between the differential motion pairs of the wrist, and the superposition of the output torque of multiple driving sources at the same joint.

[0069] In an application embodiment, see Fig. 9 and Fig.10 The rope-driven three-degree-of-freedom differential wrist ball joint 6 has a wrist pitch bracket 62 connected to the first differential connection shaft 601 of the wrist by a bearing, and the relative movement between the two is the wrist second pitch motion. A bearing is installed between the wrist pitch bracket 62 and the second differential connection shaft 602 of the wrist, and the relative movement between the two is the wrist third rotation motion.

[0070] Specifically, the first wrist differential connecting shaft 601 and a third wrist differential gear r 13 There is a bearing between 613, a three-wheel differential gear 13 613 and the first and second wrist differential gear 12 There is a bearing between 612, and the first and second wrist differential wheels are 12 612 and wrist differential gear 11 A bearing is installed between 611, and the above three groups of components are connected by bearings to achieve relative rotation connection. 21 621, 22 wrist differential gear22 622 and second and third wrist differential gear r 23 623 realizes positioning in the first direction of the wrist through the wrist support plate 8 and the first wrist differential connecting shaft 601. 21 621, 22 wrist differential gear 22 622 and second and third wrist differential gear r 23 623 coaxial arrangement, 22 wrist differential gear 22 622 and second and third wrist differential gear r 23 623 and the first wrist differential connection shaft 601 can rotate relative to each other.

[0071] In some embodiments, see Figures 7 to 10 , the first wrist driving wheel 840 is fixedly connected to the fifth driving source 75, the second wrist driving wheel 850 is fixedly connected to the sixth driving source 76, and the third wrist driving wheel 860 is fixedly connected to the seventh driving source 77. The first wrist driving wheel 840, the second wrist driving wheel 850 and the third wrist driving wheel 860 transmit power to the lower elbow decoupling pulley set 431, the upper elbow decoupling pulley set 432, the elbow auxiliary pulley set 421 and the elbow decoupling pulley set 422 through the rope, thereby driving the rope-driven three-degree-of-freedom differential wrist ball joint 6 to move.

[0072] It should be noted that each differential motion pair is connected by a belt, chain, gear or rope, so that the fifth drive source 75, the fifth drive source 75 and the seventh drive source 77 can transmit the motion to the fourth differential motion pair of the wrist, the fifth differential motion pair of the wrist and the sixth differential motion pair of the wrist respectively, and then drive the first differential motion pair of the wrist, the second differential motion pair of the wrist and the third differential motion pair of the wrist to move respectively.

[0073] In some embodiments, the antagonistic decoupling elbow joint 4 of the present invention includes an elbow driving end driving wheel 401, an elbow joint end driving wheel 402, an elbow connecting plate 411, a first elbow side plate 412, a second elbow side plate 413, a third elbow side plate 414, an elbow auxiliary pulley group 421 and an elbow decoupling pulley group 422.

[0074] See also Figure 1 , Figure 7 and Fig.10, the elbow joint end driving wheel 402 is connected to the first elbow side plate 412 through a coupling rope, and the second elbow side plate 413 is connected to the third elbow side plate 414 through a coupling rope, so as to ensure that the elbow movement is pure rolling. Among them, the two ends of a coupling rope are respectively fixedly connected to the first elbow side plate 412 and the elbow joint end driving wheel 402, and the two ends of the coupling rope are respectively arranged on the opposite sides of the robot arm. Among them, the two ends of another coupling rope are respectively fixedly connected to the second elbow side plate 413 and the third elbow side plate 414, and the two ends of the coupling rope are respectively arranged on the opposite sides of the robot arm.

[0075] Further, the elbow driving end driving wheel 401 is coaxial and fixedly connected with the output end of the fourth driving source 74, and the elbow driving end driving wheel 401 transmits power to the elbow joint end driving wheel 402 through a rope to complete the elbow pitching movement. Further, two elbow connecting plates 411 are provided, wherein the opposite ends of one elbow connecting plate 411 are respectively connected to the first elbow side plate 412 and the elbow joint end driving wheel 402, and the opposite ends of the other elbow connecting plate 411 are respectively connected to the second elbow side plate 413 and the third elbow side plate 414.

[0076] Specifically, the driving rope of the rope-driven three-degree-of-freedom differential wrist ball joint 6 transmits power to the wrist after passing through the elbow auxiliary pulley group 421 and the elbow decoupling pulley group 422. Since the second elbow side plate 413 and the third elbow side plate 414 are connected by a coupling rope, the elbow moves along a circle that fits each other for pure rolling, and the elbow auxiliary pulley group 421 limits the entry and exit rope positions of the wrist driving rope passing through the elbow. When the elbow rotates, the increased (decreased) length of the wrist driving rope wrapped around the lower decoupling pulley group 431 of the elbow is the same as the decreased (increased) length of the wrist driving rope wrapped around the upper decoupling pulley group 432 of the elbow. As a result, the driving rope of the rope-driven three-degree-of-freedom differential wrist ball joint 6 remains unchanged when passing through the antagonistic decoupling elbow joint 4, so as to achieve the purpose that the wrist joint will not rotate when the elbow moves. Among them, the elbow auxiliary pulley block 421 is mainly responsible for limiting the entry and exit positions of the rope passing through the elbow, and ensuring that the wrist driving rope is close to the elbow pulley block when the antagonistic decoupling elbow joint 4 moves. The elbow decoupling pulley block 422 is responsible for ensuring that the rope is in a decoupled state when the elbow joint moves.

[0077] See also Figure 1 , Figures 7 to 10 A plurality of steering pulleys 500 and a plurality of adjusting pulleys 510 are also arranged between the rope-driven three-degree-of-freedom differential wrist ball joint 6 and the antagonistic decoupling elbow joint 4. Figure 8 A plurality of steering pulleys 500 are fixed on the second connecting arm 5 and are arranged on a wrist differential wheel r 11 611, first and second wrist differential gear 12612 and 1 / 3 wrist differential gear 13 613, used to achieve the deflection of the drive rope. Figure 1 and Figure 8 A plurality of adjusting pulleys 510 are movably arranged on the second connecting arm 5, so as to keep the rope in a taut state when the mechanical arm moves.

[0078] In one embodiment, the shoulder differential mechanism 21 further includes a first rotary encoder 91 , a second rotary encoder 92 , and a third rotary encoder 93 for measuring the rotation angle and angular velocity of each joint.

[0079] See also Figure 1 and Fig.11 The first rotary encoder 91 includes an inner ring 91a of the first rotary encoder and an outer ring 91b of the first rotary encoder. The inner ring 91a of the first rotary encoder is fixedly sleeved on one end of the first differential connecting shaft 61 of the shoulder, and the outer ring 91b of the first rotary encoder is fixedly connected to the base 1, so that the first rotary encoder 91 is used to measure the angle and angular velocity of the rotational motion of the first joint.

[0080] See also Figure 1 and Fig.11 The second rotary encoder 92 includes an inner ring 92a of the second rotary encoder and an outer ring 92b of the second rotary encoder. The inner ring 92a of the second rotary encoder is fixedly sleeved on one end of the first differential connecting shaft 61 of the shoulder, and the outer ring 92b of the second rotary encoder is fixedly connected to the shoulder pitch bracket 4, so that the shoulder second rotary encoder 92 is used to measure the angle and angular velocity of the pitch motion of the second joint.

[0081] See also Figure 1 and Fig.11 The third rotary encoder 93 includes an inner ring 93a of the third rotary encoder and an outer ring 93b of the third rotary encoder. The inner ring 93a of the third rotary encoder is fixedly sleeved on one end of the second differential connecting shaft 62, and the outer ring 93b of the third rotary encoder is fixedly connected to the shoulder pitch bracket 4, so that the third rotary encoder 93 is used to measure the angle and angular velocity of the rotational motion of the third joint.

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

[0083] Among them, the shoulder-first swivel joint is used as the first joint, and the first joint swivel motion principle is: the second differential motion pair of the shoulder and the third differential motion pair of the shoulder cooperate to perform differential motion, when driving the first and third differential wheels 13 213 and 21 differential gear r 21 221 are all around J1 axis. Figure 3When rotating counterclockwise or clockwise, the three-two differential gear fixed on the same shaft 32 232 and three-three differential gear r 33 233 in the opposite direction around the J3 axis see Figure 3 Rotation, thus producing about the J2 axis see Figure 3 The counterclockwise or clockwise pitch motion. 11 When 211 rotates counterclockwise or clockwise around the J1 axis, a pitching motion in the clockwise or counterclockwise direction around the J2 axis is generated, and the pitching motion counteracts the pitching motion generated by the differential motion of the second differential motion pair of the shoulder and the third differential motion pair of the shoulder, thereby generating a rotational motion of the active part in the counterclockwise or clockwise direction around the J1 axis.

[0084] Among them, the shoulder second pitch joint is used as the second switch, and the pitch motion principle of the second joint is: the shoulder second differential motion pair and the shoulder third differential motion pair cooperate to perform differential motion, when driving the first and third differential wheels 13 213 and 21 differential gear r 21 When 221 rotates counterclockwise or clockwise around the J1 axis, the three-two differential gear r fixed on the same axis 32 232 and three-three differential gear r 33 233 rotates in the opposite direction around the J3 axis, thereby generating a counterclockwise or clockwise pitch motion around the J2 axis. 11 When 211 rotates clockwise or counterclockwise around the J1 axis, a pitching motion in the counterclockwise or clockwise direction around the J2 axis is generated. The pitching motion is superimposed on the pitching motion generated by the differential motion of the second differential motion pair and the third differential motion pair, thereby generating a pitching motion in the counterclockwise or clockwise direction around the J2 axis.

[0085] Among them, the shoulder three-revolving joint is the third joint, and the rotational motion principle of the third joint is: the second differential motion pair of the shoulder and the third differential motion pair of the shoulder cooperate to perform differential motion. 13 213 rotates counterclockwise or clockwise around the J1 axis, driving the first and second differential wheels r 12 When 212 rotates clockwise or counterclockwise around the J1 axis, the three-two differential gear r fixed on the same axis 32 232 and three-three differential gear r 33 233 rotates clockwise and counterclockwise around the J3 axis in the same direction, thereby generating a clockwise or counterclockwise rotational motion around the J3 axis.

[0086] According to the kinematics of the driving source and the joint end: Assume that the first driving source 71 drives the differential wheel r 11 211 rotation angle is q 1 , whose input torque is τ m1The second driving source 72 drives the first and second differential wheels r 12 212The rotation angle is q 2 , the output torque is τ m2 The third driving source 73 drives a differential wheel r 13 213 rotation angle is q 3 , the output torque is τ m3 ; The rotation angles of the first joint, the second joint and the third joint are θ 1 ,θ 2 and θ 3 , the driving torques of the first joint, the second joint and the third joint are τ 1 , τ 2 and τ 3 ; The positive direction of the joint and the driving source obeys the right-hand rule. Assume that the transmission ratio of the driving source-joint driving end is 1, and the diameter of the differential wheel around which the same coupling rope is wound is the same. Because each joint is connected to multiple driving sources, the total driving torque on the joint is the sum of the torques transmitted by multiple driving sources. At the same time, the total rotation angle of the driving source is the sum of the rotation angles of multiple joints, because each driving source is connected to multiple joints. According to the above differential principle, the positive kinematics of the driving source-joint end can be expressed as follows:

[0087]

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

[0089]

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

[0091]

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

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

[0094]

[0095] See also Figures 1 to 11 , which is described below with a specific embodiment.

[0096] The base 1 is a hollow structure, the first driving source 71, the second driving source 72, the third driving source 73, the differential gear 11 211, differential gear one and two 12 212 and 13 differential wheels 13213 are arranged in the base 1, and a differential wheel r 11 211, differential gear one and two 12 212 and 13 differential wheels 13 213 are coaxially connected from bottom to top and can rotate independently. The first driving source 71, the second driving source 72, and the third driving source 73 are arranged on a differential gear. 11 211, differential gear one and two 12 212 and 13 differential wheels 13 The first driving source 71, the second driving source 72, and the third driving source 73 drive the differential wheels r through the transmission lines respectively. 11 211, differential gear one and two 12 212 and 13 differential wheels 13 213 rotation. Figure 2 , Figure 4 and Fig.11 , differential gear r 11 211, differential gear one and two 12 212 and 13 differential wheels 13 213 is a long cylindrical type, the lower side of the three differential wheels is set in the base 1, and the upper end of the three differential wheels is set between the two side plates of the slewing bracket 3, so that the differential wheels r 11 211 and 21 differential gear 21 221 transmission connection, first and second differential wheels r 12 212 and 22 differential gear r 22 222 transmission connection and one-three differential wheels 13 213 and second and third differential wheels 23 223 are connected by transmission.

[0097] The slewing bracket 3 is arranged above the base 1 and can rotate relative to the base 1. The slewing bracket 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 bracket 3. The first differential connecting shaft 61 is arranged horizontally and its two ends are respectively fixedly connected to the two side plates of the slewing bracket 3. One end of the first differential connecting shaft 61 is connected to the second differential wheel. 22 222 and second and third differential wheels 23 223 is rotatably connected, and the other end of the first differential connecting shaft 61 is connected to the second differential gear 21 The first differential connecting shaft 61 is rotatably connected to the differential gear. 11 211 interval setting. Among them, see Figure 2 and Fig.11The first differential connecting shaft 61 is a T-shaped structure, and its two sides are respectively fixedly connected to the two side plates of the slewing support 3, and one side is fixedly connected to the inner ring 91a of the first rotary encoder. The lower middle side of the first differential connecting shaft 61 is fixedly connected to the inner ring 92a of the second rotary encoder through an intermediate shaft. Specifically, the intermediate shaft is partially arranged in the base 1 and passes through the base 1. The lower end of the intermediate shaft is arranged on the lower side of the base. The upper end of the intermediate shaft protrudes from the upper side of the base to be fixedly connected to the lower middle side of the first differential connecting shaft 61. The inner ring 92a of the second rotary encoder is fixedly connected to the lower side of the intermediate shaft. 11 211, differential gear one and two 12 212 and 13 differential wheels 13 213 are rotatably sleeved on the intermediate shaft, and the axis of the intermediate shaft is coaxially arranged with the first direction J1 axis.

[0098] The pitch bracket 4 is arranged on the upper side of the slewing bracket 3 and can rotate relative to the slewing bracket 3. The pitch bracket 4 includes a bottom plate and two side plates forming an inverted U-shaped structure. One side of the pitch bracket 4 is connected to the two-one differential wheel. 21 221 is fixedly connected, and the two side plates of the pitch bracket 4 are rotatably connected to the two ends of the first differential connecting shaft 61. The second differential connecting shaft 61 is vertically arranged and can independently rotate through the bottom plate of the pitch bracket 4. The two ends of the second differential connecting shaft 61 are respectively connected to the three-two differential wheels r 32 232 and three-three differential gear r 33 233 is fixedly connected, and the inner ring 93a of the third rotary encoder is set on the three-two differential wheel r 32 232 and three-three differential gear r 33 233 and is fixedly connected to the second differential connecting shaft 61. The second differential connecting shaft 61 rotatably passes through the bottom plate of the pitch bracket 4. The second differential connecting shaft 61 is spaced apart from the first differential connecting shaft 61. 11 211 and 21 differential gear r 21 221 are linked by transmission line 700 to form a first differential pair. 12 212, 2-2 differential gear 22 222 and three-two differential gear r 32 232 are linked by transmission line 700 to form a second differential pair. 13 213, second and third differential wheels 23 223 and 33 differential gear 33 233 are linked through the transmission line 700 to form a third differential motion pair.

[0099] It should be noted that the main structures of the rope-driven three-degree-of-freedom differential shoulder ball joint 2 and the rope-driven three-degree-of-freedom differential wrist ball joint 6 in the present invention are the same. Accordingly, the working principles of the shoulder 1 rotational motion, shoulder 2 pitch motion and shoulder 3 rotational motion of the rope-driven three-degree-of-freedom differential shoulder ball joint 2 and the wrist 1 rotational motion, wrist 2 pitch motion and wrist 3 rotational motion of the rope-driven three-degree-of-freedom differential wrist ball joint 6 can be referenced to each other.

[0100] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of protection of the present disclosure. All should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A large-load rope-driven agile manipulator, characterized in that: include: A base (1), a rope-driven three-degree-of-freedom differential shoulder ball joint (2) for performing shoulder rotation, shoulder pitch and shoulder rotation, a first connecting arm (3), an antagonistic decoupling elbow joint (4) with one degree of freedom for performing elbow pitch, a second connecting arm (5), and a rope-driven three-degree-of-freedom differential wrist ball joint (6) for performing wrist rotation, wrist pitch and wrist rotation, and a driving source (7) for providing power are connected in sequence.

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

3. The large-load rope-driven agile manipulator according to claim 1, characterized in that: The rope-driven three-degree-of-freedom differential shoulder ball joint (2) is provided with a shoulder differential mechanism (21), a shoulder swivel bracket (22) and a shoulder pitch bracket (23) on the base (1); The shoulder differential mechanism (21) comprises a first shoulder differential connecting shaft (201), a second shoulder differential connecting shaft (202), and a differential gear wheel coaxially arranged along a first direction of the shoulder and capable of rotating independently. 11 (211), one and two differential wheels r 12 (212) and a three-wheel differential 13 (213), and a two-to-one differential gear coaxially arranged along the second direction of the shoulder and coaxially connected to the first differential connecting shaft (201) of the shoulder 21 (221), 22 differential gear r 22 (222) and the second and third differential wheels r 23 (223), and a three-two differential gear wheel coaxially arranged along the third direction of the shoulder and coaxially connected to the second differential connecting shaft (202) of the shoulder 32 (232) and three-three differential gear r 33 (233); the first direction of the shoulder, the second direction of the shoulder and the third direction of the shoulder intersect at a point; The shoulder first differential connecting shaft (201) is fixedly connected to the shoulder rotating bracket (22), and the two-one differential gear 21 (221) is fixedly connected to the shoulder pitch support (23); Wherein, the first driving source (71), the second driving source (72) and the third driving source (73) are respectively used to drive the differential gears 11 (211), the first and second differential wheels 12 (212) and the one-three differential gear 13 (213) rotation; Among them, the differential gear r 11 (211) and the two-one differential gear r 21 (221) constitutes the first differential motion pair of the shoulder, the first and second differential wheels r 12 (212), the two-two differential gear r 22 (222) and the three-two differential gear r 32 (232) constitutes the second differential motion pair of the shoulder, the three differential wheels r 13 (213), the second and third differential wheels r 23 (223) and the three-three differential gear 33 (233) constitutes the third differential motion pair of the shoulder, thereby allowing the shoulder first rotation motion, shoulder second pitch motion and shoulder third rotation motion to be generated through 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.

4. The large-load rope-driven agile manipulator according to claim 2, characterized in that: The rope-driven three-degree-of-freedom differential wrist ball joint (6) comprises a wrist differential mechanism (61) and a wrist pitch bracket (62); The wrist differential mechanism (61) comprises a wrist first differential connection shaft (601), a wrist second differential connection shaft (602), and a wrist differential wheel (603) coaxially arranged along a first direction of the wrist and capable of rotating independently. 11 (611), one and two wrist differential wheels 12 (612) and a three-wheel differential gear r 13 (613), and a second wrist differential gear r arranged coaxially along the second direction of the wrist and coaxially connected to the first wrist differential connecting shaft (601) 21 (621), 22 wrist differential gear 22 (622), second and third wrist differential gear r 23 (623), and a three-two wrist differential gear r coaxially arranged along the third direction of the wrist and coaxially connected to the second differential connecting shaft (602) of the wrist 32 (632) and triple wrist differential gear r 33 (633); the first direction of the wrist, the second direction of the wrist and the third direction of the wrist intersect at a point; The two-wrist differential gear 21 (621) is fixedly connected to the second differential connecting shaft (602) of the wrist; The fifth driving source (75), the sixth driving source (76) and the seventh driving source (77) are used to drive the wrist differential wheel r respectively. 11 (611), one and two wrist differential wheels 12 (612) and a three-wheel differential gear r 13 (613) rotation; Among them, the wrist differential gear r 11 (611) and the two-one wrist differential gear r 21 (621) constitutes the first wrist differential motion pair, the first and second wrist differential wheels r 12 (612), the second wrist differential gear r 22 (622) and the three-two wrist differential gear r 32 (632) constitutes the second wrist differential motion pair, the three wrist differential gears r 13 (613), the second and third wrist differential gear r 23 (623) and the three-three wrist differential gear r 33 (633) constitutes the third differential kinematic pair of the wrist, thereby allowing wrist-one rotational motion, wrist-two pitching motion and wrist-three rotational motion to be generated through the first differential kinematic pair of the wrist, the second differential kinematic pair of the wrist and the third differential kinematic pair of the wrist.

5. The large-load rope-driven agile manipulator according to claim 4, characterized in that: The antagonistic decoupling elbow joint (4) comprises an elbow driving end driving wheel (401), an elbow joint end driving wheel (402), an elbow connecting plate (411), a first elbow side plate (412), a second elbow side plate (413), a third elbow side plate (414), an elbow auxiliary pulley block (421) and an elbow decoupling pulley block (422); The elbow joint end driving wheel (402) is connected to the first elbow side plate (412) via a coupling rope, and the second elbow side plate (413) is connected to the third elbow side plate (414) via a coupling rope; the elbow driving end driving wheel (401) is coaxially and fixedly connected to the output end of the fourth driving source (74), and the elbow driving end driving wheel (401) is connected to the elbow joint end driving wheel (402) via a rope transmission.

6. The large-load rope-driven agile manipulator according to claim 5, characterized in that: The antagonistic decoupling elbow joint (4) also has two elbow connecting plates (411), wherein the opposite ends of one elbow connecting plate (411) are respectively connected to the first elbow side plate (412) and the elbow joint end driving wheel (402), and the opposite ends of the other elbow connecting plate (411) are respectively connected to the second elbow side plate (413) and the third elbow side plate (414).

7. The large-load rope-driven agile manipulator according to claim 6, characterized in that: A plurality of adjustment pulleys (510) are arranged between the rope-driven three-degree-of-freedom differential wrist ball joint (6) and the antagonistic decoupling elbow joint (4); the plurality of adjustment pulleys (510) are movably arranged on the second connecting arm rod (5) so that the rope remains in a taut state when the mechanical arm moves.

8. The large-load rope-driven agile manipulator according to claim 6, characterized in that: The wrist differential mechanism (61) also includes a first wrist driving wheel (840), a second wrist driving wheel (850) and a third wrist driving wheel (860); the first wrist driving wheel (840) is fixedly connected to the fifth driving source (75), the second wrist driving wheel (850) is fixedly connected to the sixth driving source (76), and the third wrist driving wheel (860) is fixedly connected to the seventh driving source (77); wherein the first wrist driving wheel (840), the second wrist driving wheel (850) and the third wrist driving wheel (860) transmit power to the elbow auxiliary pulley group (421) and the elbow decoupling pulley group (422) through ropes, thereby driving the rope-driven three-degree-of-freedom differential wrist ball joint (6) to move.

9. The large-load rope-driven agile manipulator according to claim 6, characterized in that: A plurality of steering pulleys (500) are arranged between the rope-driven three-degree-of-freedom differential wrist ball joint (6) and the antagonistic decoupling elbow joint (4); the plurality of steering pulleys (500) are fixed on the second connecting arm (5) and are respectively arranged on the wrist differential pulleys. 11 (611), the first and second wrist differential wheels r 12 (612) and the three-arm differential gear r 13 (613) to divert the drive rope.

10. The large-load rope-driven agile manipulator according to claim 3, characterized in that: The two-to-one differential gear 21 The diameter of (221) is smaller than the second differential gear r 22 (222), the two-two differential gear r 22 The diameter of (222) is smaller than the second and third differential wheels r 23 (223).

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